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Income Taxes - Schedule of Income before Income Taxes (Details) - USD ($)
$ in Thousands
 12 Months Ended
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