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Composition of Certain Financial Statement Captions - Schedule of Property and Equipment, Net (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Property, Plant and Equipment [Line Items]    
Property and equipment, gross $ 19,205 $ 22,563
Less: Accumulated depreciation and amortization (14,655) (17,627)
Property and equipment, net 4,550 4,936
Equipment, furniture and other    
Property, Plant and Equipment [Line Items]    
Property and equipment, gross 14,148 16,839
Leasehold improvements    
Property, Plant and Equipment [Line Items]    
Property and equipment, gross $ 5,057 $ 5,724