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Income Taxes - Unrecognized Tax Benefit (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]      
Beginning balance $ 27,850 $ 22,512 $ 17,626
Gross increase for tax positions related to prior years (161) 2,488 1,272
Gross increase for tax positions related to the current year 2,373 2,850 3,614
Ending balance $ 30,062 $ 27,850 $ 22,512