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Commitment and Contingencies - Leases (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Dec. 31, 2023
Commitments and Contingencies Disclosure [Abstract]          
Weighted average remaining term of operating lease 4 years 8 months 12 days   4 years 8 months 12 days   5 years 2 months 12 days
Weighted average discount rate 7.10%   7.10%   7.00%
Cash payments for amounts included in the measurement of operating lease liabilities $ 2,100 $ 2,100 $ 4,500 $ 4,300  
Right-of-use assets in exchange for lease liabilities - continuing operations 0 1,200 600 2,400  
Lease cost $ 2,584 $ 2,656 $ 5,224 $ 5,590