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Income Taxes - Schedule of Income before Income Tax, Domestic and Foreign (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
Domestic $ 34,518 $ (49,383) $ (119,195)
Foreign (3,024) 1,710 (420)
Income (loss) before income taxes $ 31,494 $ (47,673) $ (119,615)