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Composition of Certain Financial Statement Items - Other Non-operating Expense (Income), Net (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Other Income and Expenses [Abstract] |  |  |
Change in fair value of contingent consideration |  |  | $ (1,928)
Other non-operating expense (income) | $ 394 | $ 1,753 | 1,827
Total other non-operating expense (income),net | $ 394 | $ 1,753 | $ (101)

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