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Income Taxes - Changes in Valuation Allowance (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Changes In Deferred Tax Asset, Valuation Allowance [Roll Forward]      
Balance at beginning of year $ 4,287 $ 3,214 $ 2,479
Provision for income taxes 643 1,103 3,150
Write-offs and Deductions (42) (30) (2,415)
Balance at end of year $ 4,888 $ 4,287 $ 3,214