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Income Taxes - Schedule of Changes in Deferred Tax Asset Valuation Allowance (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
Balance at beginning of period $ 111,779 $ 101,529 $ 52,676
Charged (credited) to expenses 46,397 19,321 59,249
Charged (credited) to other accounts (581) (9,071) (10,396)
Balance at end of period $ 157,595 $ 111,779 $ 101,529