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Income Taxes - Reconciliation of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Taxes
Balance at beginning of year	$ 16,838	$ 15,495	$ 13,243
Additions based on tax positions related to current year	865	1,385	2,038
Additions for tax positions of prior years			214
Reductions for tax positions of prior years	(286)	(42)
Balance at end of year	$ 17,417	$ 16,838	$ 15,495

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Amount of unrecognized tax benefits.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 15A
-Subparagraph (a)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482685/740-10-50-15A

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 10B
-Publisher FASB
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Amount of decrease in unrecognized tax benefits resulting from tax positions taken in prior period tax returns.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 15A
-Subparagraph (a)(1)
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Amount of increase in unrecognized tax benefits resulting from tax positions that have been or will be taken in current period tax return.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 15A
-Subparagraph (a)(2)
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-URI https://asc.fasb.org//1943274/2147482685/740-10-50-15A

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Amount of increase in unrecognized tax benefits resulting from tax positions taken in prior period tax returns.

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-Section 50
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-URI https://asc.fasb.org//1943274/2147482685/740-10-50-15A

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