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Income Taxes - Schedule of Loss Before Provision for Income Taxes (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income (Loss) from Continuing Operations before Equity Method Investments, Income Taxes, Noncontrolling Interest [Abstract]      
Domestic $ (206,344) $ (66,055) $ (32,719)
Foreign 3,939 3,978 2,918
Loss before income taxes $ (202,405) $ (62,077) $ (29,801)