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Income Taxes - Schedule of Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]    
Beginning balance $ 1,601 $ 1,489
Increase in balance related to tax positions taken during the current year 136 112
Decrease in balance related to tax positions taken during prior years (7) 0
Ending balance $ 1,730 $ 1,601