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Income Taxes - Changes in Valuation Allowance (Details) - Valuation Allowance of Deferred Tax Assets - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |
Balance at beginning-of-year | $ 70,790 | $ 101,345
Credited to costs and expenses | (38,786) | (47,964)
Charged (credited) to other accounts | 0 | 17,409
Balance at end-of-year | 32,004 | $ 70,790
Discontinued Operations |  |
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |
Charged (credited) to other accounts | 100 |
Retained Earnings (Accumulated Deficit) |  |
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |
Charged (credited) to other accounts | $ 17,300 |

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