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Summary of Significant Accounting Policies - Foreign Exchange Policy Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Accounting Policies [Abstract] |  |  |
Foreign currency transaction gain (loss), realized | $ 3,100 | $ 2,900 | $ 3,200

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