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Commitments and Contingencies - Additional Information (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Commitments and Contingencies Disclosure [Abstract]        
Recognized amortization expense $ 361 $ 210 $ 1,084 $ 584
Recognized tax credits and other benefits $ 456 $ 418 $ 1,400 $ 738