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Income Taxes - Unrecognized tax benefits (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits [Roll Forward]      
Gross unrecognized tax benefits at beginning of year $ 12,124 $ 10,572 $ 2,376
Increases in tax positions for prior years 3,321 2,965 22,348
Decreases in tax positions for prior years (2) (390) 0
Increases in tax positions for current years 257 796 3,164
Decreases from lapse in statute of limitations (670) (173) (4,234)
Decreases due to settlements with taxing authorities 0 (1,646) (13,082)
Gross unrecognized tax benefits at end of year $ 15,030 $ 12,124 $ 10,572