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Stock-based Compensation - Schedule of Stock Option Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Options    
Outstanding at the beginning of the period (in shares) 1,895  
Exercised (in shares) (1,237)  
Forfeited (in shares) 0  
Outstanding at the end of the period (in shares) 658 1,895
Vested and expected to vest at the end of the period (in shares) 658  
Exercisable at the end of the period (in shares) 658  
Weighted Average Exercise Price    
Outstanding at the beginning of the period (in dollars per share) $ 10.40  
Exercised (in dollars per share) 8.72  
Forfeited (in dollars per share) 0  
Outstanding at the end of the period (in dollars per share) 13.23 $ 10.40
Vested and expected to vest at the end of the period (in dollars per share) 13.23  
Exercisable at the end of the period (in dollars per share) $ 13.23  
Weighted Average Remaining Contractual Term    
Outstanding 4 years 11 months 26 days 3 years 2 months 26 days
Vested and expected to vest 4 years 11 months 26 days  
Exercisable 4 years 11 months 26 days  
Aggregate Intrinsic Value    
Outstanding $ 13,032 $ 33,503
Vested and expected to vest 13,032  
Exercisable $ 13,032