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Income Taxes - Unrecognized Tax Benefit (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
Gross unrecognized tax benefits, beginning of period $ 19,482 $ 17,692 $ 19,167
Increases in tax positions for prior years 1,645 0 21
Decreases in tax positions for prior years and lapse in statute of limitations 0 (1,148) (1,496)
Increases in tax positions related to business acquisition 0 2,151 0
Increases in tax positions for current year 791 787 0
Gross unrecognized tax benefits, end of period $ 21,918 $ 19,482 $ 17,692