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Revenue - Schedule of Revenue Recognized in Period (Parenthetical) (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Disaggregation of Revenue [Line Items] |  |  |  |
Amount of revenue recognized | [1] | $ 20,620,000 | $ 24,307,000 | $ 23,863,000
Previously Disclosed |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Amount of revenue recognized |  |  | $ 4,600 |
[1] | The Company has identified an error in the disclosure of the amount of revenue recognized from the beginning balance of deferred revenue for the year ended December 31, 2022 in this Form 10-K filing. The amount for the year ended December 31, 2022 was revised to correct an immaterial error, which resulted in the disclosure of the amount recognized increasing by $4.6 million from the amount previously disclosed. There was no impact on any amounts recorded in the Company’s consolidated financial statements for any period presented.

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