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Commitments and Contingencies (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Commitments and Contingencies Disclosure [Abstract]      
Current portion of legal settlement obligation payable $ 5,279 $ 4,165  
Insurance claim receivable in connection with legal settlement obligation 2,900 900  
Insurance claim received $ 1,100 $ 4,600 $ 1,600
Noncash compensation expense     $ 15,600