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Income Taxes - Schedule of Valuation Allowance (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure, Valuation Allowance [Roll Forward]      
Beginning balance $ 14,644 $ 14,170 $ 12,950
Net increase in current year 799 91 1,312
Net increase (decrease) in valuation prior period 877 383 (14)
Net decrease in valuation allowance from acquisitions 0 0 (78)
Ending balance $ 16,320 $ 14,644 $ 14,170