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Intangible Assets, net - Schedule of Intangible Assets (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Finite-Lived Intangible Assets [Line Items]      
Beginning balance   $ 6,669 $ 7,461
Assets Acquired Pursuant to Business Combination $ 0 0  
Impairment Charges 0 0  
Amortization of intangible assets 793 792 792
Ending balance 5,876 6,669  
Gross Carrying Amount 10,300 10,300  
Accumulated Amortization (4,424) (3,631)  
Developed technology      
Finite-Lived Intangible Assets [Line Items]      
Beginning balance   6,669 7,461
Assets Acquired Pursuant to Business Combination 0 0  
Impairment Charges 0 0  
Amortization of intangible assets 793 792  
Ending balance 5,876 6,669  
Gross Carrying Amount 10,300 10,300  
Accumulated Amortization (4,424) (3,631)  
us-gaap_DisclosureTotal      
Finite-Lived Intangible Assets [Line Items]      
Amortization of intangible assets 793    
Purchased Intangible Assets      
Finite-Lived Intangible Assets [Line Items]      
Amortization of intangible assets $ 793 $ 792 $ 792