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Income Taxes - Narrative (Details) - USD ($) | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Income Tax Contingency [Line Items] |  |  |
Net operating loss | $ 75,300,000 |  |
Uncertain tax positions | 1,380,000 | $ 1,380,000 | $ 1,380,000
Unrecognized tax benefits recognized | 1,300,000 |  |
Interest and penalty expense | 0 | $ 0 |
Domestic Tax Authority |  |  |
Income Tax Contingency [Line Items] |  |  |
Net operating loss | 15,800,000 |  |
State and Local Jurisdiction |  |  |
Income Tax Contingency [Line Items] |  |  |
Net operating loss | 3,600,000 |  |
Foreign Tax Authority |  |  |
Income Tax Contingency [Line Items] |  |  |
Net operating loss | $ 900,000 |  |

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