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Income Taxes - Schedule of Domestic and Foreign Income Taxes (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
Domestic $ 67,643 $ 71,136 $ (11,127)
Foreign 2,907 2,948 1,851
Income (loss) before income taxes $ 70,550 $ 74,084 $ (9,276)