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Income Taxes - Narrative (Details) - USD ($) | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | --- | ---
Tax Credit Carryforward [Line Items] |  |  |
Valuation allowance | $ 0 | $ 0 |
Uncertain tax positions, interest and penalties | 200,000 | 200,000 | $ 300,000
Interest and penalties accrued | 400,000 | $ 200,000 | $ 600,000
Internal Revenue Service (IRS) |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Net operating loss | 0 |  |
Internal Revenue Service (IRS) | Research Tax Credit Carryforward |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Tax credit carryforward amount | 0 |  |
State and Local Jurisdiction |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Net operating loss | 19,000,000 |  |
State and Local Jurisdiction | Research Tax Credit Carryforward |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Tax credit carryforward amount | 20,900,000 |  |
Foreign Tax Authority |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Net operating loss | $ 22,300,000 |  |

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