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Cash, Cash Equivalents, Marketable Securities, and Restricted Cash - Reconciliation of Cash and Cash Equivalents and Restricted Cash (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Cash, Cash Equivalents, and Short-Term Investments [Abstract]        
Cash and cash equivalents $ 246,994 $ 148,813 $ 245,197  
Restricted cash 3,083 4,302 4,259  
Cash, cash equivalents, and restricted cash shown in the Consolidated Statements of Cash Flows $ 250,077 $ 153,115 $ 249,456 $ 166,162