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Summary of Significant Accounting Policies - Debt Issuance Costs (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Accounting Policies [Abstract]      
Deferred financing costs $ 1,732 $ 1,973  
Accretion and amortization related to financing activities $ 2,738 $ 204 $ 206