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Income Taxes - Reconciliation of Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Unrecognized Tax Benefits    
Beginning Balance $ 42,915 $ 41,629
Increases related to current and prior year tax positions 506 1,286
Decreases from lapses of statute of limitations and prior year tax positions (30,782)  
Ending Balance $ 12,639 $ 42,915