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Income Taxes - Schedule of Income (Loss) before Income Tax, Domestic and Foreign (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Income Tax Disclosure [Abstract]      
United States $ (116,272) $ (46,241) $ (35,542)
Foreign 3,296 8,528 4,141
Loss before provision for income taxes $ (112,976) $ (37,713) $ (31,401)