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Income Taxes - Reconciliation of 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]      
Balance at the beginning of the year $ 1,754 $ 924 $ 393
Additions based on tax positions related to current year 2,208 876 461
Additions based on tax positions related to prior years 485 (46) 70
Balance at end of year $ 4,447 $ 1,754 $ 924