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Related Party Transactions - Summary of Contributions to Foundation (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Contributions to Foundation |  |  |
Related Party Transaction [Line Items] |  |  |
Foundation contributions | $ 2,300 | $ 2,750 | $ 2,400

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