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Goodwill and Intangible Assets, Net - Estimated Future Annual Amortization Expense Related to Intangible Assets (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Goodwill and Intangible Assets Disclosure [Abstract]    
2024 $ 18,842  
2025 18,704  
2026 17,700  
2027 17,226  
2028 15,959  
Thereafter 18,913  
Total future amortization $ 107,344 $ 88,352