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Income Taxes - Schedule of Unrecognized Tax Benefits Roll Forward (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
Beginning Balance $ 408 $ 408 $ 406
Increase related to prior year tax positions 536 0 2
Increases related to current year tax positions 127 0 0
Ending Balance $ 1,071 $ 408 $ 408