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Income Taxes - Loss Before Income Taxes (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
United States $ (137,240) $ (196,469) $ (224,159)
Foreign 3,931 5,789 1,531
Loss before income taxes $ (133,309) $ (190,680) $ (222,628)