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Commitments and Contingencies - Additional Information (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Commitments and Contingencies Disclosure [Abstract]        
Recognized amortization expense $ 362 $ 187 $ 723 $ 374
Recognized tax credits and other benefits $ 456 $ 160 $ 912 $ 320