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Leases - Supplemental Cash Flow Information (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Leases [Abstract]      
Cash payments included in the measurement of lease liabilities $ 14,984 $ 15,751 $ 14,646
Lease liabilities arising from obtaining right-of-use assets $ 121 $ 8,669 $ 4,110