Chicken Thighs with Garlic Marinade

6 boneless skinless chicken thighs (about 1 3/4 pounds)
6 garlic cloves, grated on a Microplane or minced
Juice and zest of 2 lemons
3 tablespoons extra-virgin olive oil, more for serving
2 tablespoons minced fresh parsley, more for serving
2 tablespoons minced fresh mint
1 tablespoon minced fresh thyme
1 tablespoon minced fresh oregano or marjoram
1 tablespoon sesame seeds, optional, more for garnish
1 1/2 teaspoons kosher salt, more as needed
3/4 teaspoon sumac, optional, more for garnish
2/3 cup plain Greek yogurt, preferably whole milk
1/4 teaspoon freshly ground black pepper

Combine chicken with all but 1 teaspoon of the grated garlic (save that teaspoon for the yogurt sauce), the zest and juice of 1 lemon, oil, parsley, mint, thyme, oregano, sesame seeds, 1 1/2 teaspoons salt and sumac, if using. Cover and marinate for 15 to 30 minutes at room temperature; you can refrigerate it for up to 24 hours.

Heat grill or broiler. If grilling, cook chicken over high heat until charred in spots, 4 to 7 minutes. Flip pieces and continue grilling until just cooked through, another 4 to 7 minutes. If broiling, arrange a rack 3 to 4 inches from flame. Line a rimmed baking sheet with foil and spread chicken out in a single layer. Broil chicken, turning halfway through cooking, until well colored and charred in spots, 4 to 7 minutes per side. Be careful that it doesn’t burn.

While chicken cooks, place yogurt in a small bowl. Stir in the reserved grated garlic and lemon zest and season to taste with salt. Serve the chicken drizzled with olive oil, remaining lemon juice to taste, black pepper, parsley, sesame seeds and sumac, with the yogurt for dipping.