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Restructuring Activities - Restructuring Activity Included in Operating Expenses (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Restructuring and Related Activities [Abstract]      
Asset impairment $ 0 $ 2,427 $ 13,228
Severance and other benefits 0 305 22,616
Outside services and other associated costs 0 548 1,671
Reimbursement arrangements 0 0 (9,638)
Total $ 0 $ 3,280 $ 27,877