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Income Taxes - Movement of valuation allowance (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Valuation allowance      
Balance at beginning of the year $ 106,967 $ 82,964 $ 37,405
Changes of valuation allowance 12,779 24,003 45,559
Balance at end of the year $ 119,746 $ 106,967 $ 82,964