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Goodwill and Intangible Assets, Net - Estimated Future Annual Amortization Expense Related to Intangible Assets (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Goodwill and Intangible Assets Disclosure [Abstract]    
2024 $ 5,095  
2025 4,552  
2026 3,830  
2027 3,135  
2028 2,506  
Thereafter 6,231  
Total $ 25,349 $ 24,470