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Income Taxes - Changes in Valuation Allowance (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of year $ 31,205 $ 38,810 $ 40,029
Additions 0 0 0
Deductions (1,903) (7,605) (1,219)
Balance at end of year $ 29,302 $ 31,205 $ 38,810