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Commitments and Contingencies - Schedule of Noncash Investing and Financing Activities (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Commitments and Contingencies Disclosure [Abstract] |  |  |
Right-of-use assets obtained in exchange for operating lease liabilities | $ 437 | $ 6,116 | $ 2,376
Right-of-use assets obtained in exchange for finance lease liabilities | $ 7 | $ 151 | $ 444

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