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Summary of Significant Accounting Policies - The Balances in the Company's Accumulated Other Comprehensive Income (Loss) (Parenthetical) (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Reclassification from AOCI, Current Period, Tax [Abstract]      
Amounts reclassified from accumulated other comprehensive income, tax $ 18 $ 17 $ 21