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Income Taxes - Narrative (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Income Tax Disclosure [Abstract]        
Intercompany dividend income $ 0 $ 0 $ 0  
Statutory tax rate percentage 21.00% 21.00% 21.00%  
Deferred tax assets, valuation allowance $ 47,844 $ 39,177    
Increase in valuation allowance 8,500 4,400    
Accrued interest or penalties for income tax liabilities 100 100 $ 100  
Unrecognized tax benefits 0 $ 0 $ 512 $ 500
Uncertain tax positions that would impact of effective tax rate $ 0