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Basis of Presentation, Summary of Significant Accounting Policies and Change in Accounting Principles - Schedule of Restricted Cash and Restricted Investments (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Restricted Cash and Cash Equivalents Items [Line Items]    
Total restricted cash and restricted investments $ 30,632 $ 26,958
Current restricted cash 13,768 14,492
Total current restricted cash and restricted investments 13,768 14,492
Non-current restricted cash 16,864 12,466
Total non-current restricted cash and restricted investments 16,864 12,466
Collateral for letters of credit for facility leases    
Restricted Cash and Cash Equivalents Items [Line Items]    
Total restricted cash and restricted investments 2,132 2,269
Collateral with financial institutions    
Restricted Cash and Cash Equivalents Items [Line Items]    
Total restricted cash and restricted investments 16,237 10,912
Claims processing services    
Restricted Cash and Cash Equivalents Items [Line Items]    
Total restricted cash and restricted investments $ 12,263 $ 13,777