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Income Taxes - Schedule of Reconciliation of Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]      
Unrecognized tax benefit, beginning of year: $ 17,077 $ 6,337 $ 5,121
Gross increases - tax positions in prior year 3,912 7,720 281
Gross increases - tax positions in current year 3,341 3,020 935
Gross decreases - tax positions in prior year 0 0 0
Gross decreases - tax positions in current year 0 0 0
Unrecognized tax benefit, end of year $ 24,330 $ 17,077 $ 6,337