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Income Taxes -Schedule of Components of Pre-Tax Income (Loss) (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
United States $ (31,972) $ (108,006) $ (125,876)
Foreign 1,377 1,617 986
Loss before income taxes $ (30,595) $ (106,389) $ (124,890)