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Income Taxes - Schedule of Income before Income Taxes (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Operating Loss Carryforwards [Line Items] |  |  |
Total income before income taxes | $ 100,726 | $ 69,569 | $ 76,599
United States |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Total income before income taxes | 76,893 | 46,646 | 57,804
Foreign |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Total income before income taxes | $ 23,833 | $ 22,923 | $ 18,795

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