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Fair Value Measurements and Financial Instruments - Narrative (Details) - USD ($)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Fair Value Disclosures [Abstract]      
Unrealized gain (loss) related to assets and liabilities measured at fair value using unobservable inputs $ 0 $ 0 $ 0