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Income Taxes - Classification of Net Deferred Tax Asset (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
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Income Tax Disclosure [Abstract] |  |
Long-term deferred tax assets | $ 30,392 | $ 29,149
Long-term deferred tax liabilities | (7,224) | (8,498)
Net deferred tax assets | $ 23,168 | $ 20,651

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