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Intangible Assets - Amortization (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Finite-Lived Intangible Assets [Line Items]      
Amortization of intangible assets $ 10,212 $ 9,180 $ 2,881
Cost of revenue      
Finite-Lived Intangible Assets [Line Items]      
Amortization of intangible assets 263 263 263
Sales, general and administrative      
Finite-Lived Intangible Assets [Line Items]      
Amortization of intangible assets $ 9,949 $ 8,917 $ 2,618