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Income Taxes - Schedule of Income Tax Provision (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Current      
Federal $ (178) $ (165) $ 345
State 1,533 897 260
Non-US 667 411 203
Total current tax expense 2,022 1,143 808
Deferred      
Federal 0 0 0
State 0 0 0
Non-US 0 0 0
Total deferred tax expense 0 0 0
Total income tax expense $ 2,022 $ 1,143 $ 808