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Restructuring Charges - Schedule of Restructuring and Related Costs (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]      
Restructuring charges $ 0 $ 1,657 $ 0
One-time Termination Benefits [Member]      
Restructuring Cost and Reserve [Line Items]      
Restructuring charges   1,584  
Contract Termination [Member]      
Restructuring Cost and Reserve [Line Items]      
Restructuring charges   $ 73