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Income Taxes - Income (loss) before income taxes (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Income Taxes      
U.S. $ (51,607) $ (28,573) $ (147,196)
International (3,743) 3,897 786
Loss before income taxes $ (55,350) $ (24,676) $ (146,410)