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Stock-Based Compensation - Stock Based Compensation Expenses by Award Type (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Total stock-based compensation expense | $ 24,151 | $ 22,498
Stock options |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Total stock-based compensation expense | 2,925 | 1,594
Earn-out shares |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Total stock-based compensation expense | 2,073 | 6,499
Warrants |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Total stock-based compensation expense | 3,147 | 4,523
RSUs and PSUs |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Total stock-based compensation expense | $ 16,006 | $ 9,882

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479830/718-10-S99-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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