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Income Taxes - Loss before Income Taxes (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Income Tax Disclosure [Abstract]    
Domestic $ (47,703) $ (63,939)
Foreign 2,403 (4,495)
Loss before income taxes $ (45,300) $ (68,434)