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Description of Business and Summary of Significant Accounting Policies - Changes in Allowance for Doubtful Accounts (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Accounts Receivable, Allowance for Credit Loss [Roll Forward]      
Balance at beginning of year $ 9,581 $ 8,026 $ 5,184
Provision, net of recoveries 6,852 9,367 8,132
Write-offs 3,961 7,812 5,290
Balance at end of year $ 12,472 $ 9,581 $ 8,026