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Income Taxes - Narrative (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Operating Loss Carryforwards [Line Items] |  |  |
Federal and state tax credit carryforwards | $ 14,804 | $ 13,364 |
Capitalization of R&D expenses for tax purposes | $ 10,800 |  |
Foreign net operating loss carryforwards related to the MENU Acquisition |  | 3,300 |
Tax expense associated with deferred tax asset valuation allowance |  | $ 10,400 |
Effective income tax rate | (2.30%) | (1.50%) | 10.00%
Federal statutory tax rate | 21.00% | 21.00% | 21.00%
Interest Tax Carryforward |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Federal and state tax credit carryforwards | $ 26,400 |  |
Capitalized Research and Development |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Valuation allowance, DTA, increase (decrease) | 11,300 |  |
Foreign Net Operating Loss Carryforward |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Valuation allowance, DTA, increase (decrease) | 2,000 |  |
Cumulative Effect, Period of Adoption, Adjustment |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Valuation allowance, DTA, increase (decrease) | 20,000 |  |
Minimum |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Operating loss carryforwards | 0 |  |
Maximum |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Operating loss carryforwards | 49,200 |  |
Federal |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Tax credit carryforwards | 13,300 |  |
Operating loss carryforwards | 12,600 |  |
Operating loss carryforwards for unlimited period | 170,100 |  |
State |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Operating loss carryforwards | 1,700 |  |
Foreign Tax Authority |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Operating loss carryforwards | $ 37,200 |  |

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