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Leases - Schedule of Maturities of Lease Liabilities (Details) - USD ($)
$ in Thousands
Mar. 31, 2024
Dec. 31, 2023
Lessee, Operating Lease, Liability, to be Paid, Fiscal Year Maturity [Abstract]    
2024 (for the remaining nine months) $ 3,652  
2025 4,271  
2026 3,800  
2027 3,380  
2028 3,184  
Thereafter 6,284  
Total undiscounted lease payments 24,571  
Less: imputed interest (5,150)  
Total lease liabilities $ 19,421 $ 20,519