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Income Taxes - Schedule of Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
Balance at Beginning of Period $ 1,520 $ 1,105 $ 5,623
Additions based on tax positions related to the current year   581 133
Additions for tax positions of prior years 75 57 57
Reductions as a result of a lapse of applicable statutes of limitations (57) (223) (4,708)
Balance at End of Period $ 1,538 $ 1,520 $ 1,105