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Stock-based Compensation - Fair Value of Options Granted Using the Black-Scholes Pricing Model (Details) - Stock options
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Minimum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Expected Volatility 63.30% 62.50% 43.40%
Risk-free interest rate 4.10% 3.40% 0.80%
Expected term (in years) 4 years 6 months 4 years 7 months 6 days 4 years 7 months 6 days
Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Expected Volatility     57.40%
Risk-free interest rate     1.20%
Expected term (in years)     6 years 2 months 12 days