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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