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Income Taxes - Schedule of Income before Income Tax, Domestic and Foreign (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
Domestic $ 164,958 $ 122,013 $ 80,472
Foreign 13,693 11,687 8,925
Income before income taxes $ 178,651 $ 133,700 $ 89,397