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Fair Value - Schedule of Changes in Contingent Consideration and Warrant Liabilities (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Fair Value Liabilities Measured On Recurring Basis Unobservable Input Reconciliation [Line Items]    
Loss on extinguishment of liabilities   $ 6,981
Fair Value, Recurring | Level 3 | Contingent Consideration    
Fair Value Liabilities Measured On Recurring Basis Unobservable Input Reconciliation [Line Items]    
Balance $ 28,986 33,792
Interest expense 3,946 3,082
Loss on extinguishment of liabilities   2,934
Payments (11,075) (10,822)
Balance 21,857 28,986
Fair Value, Recurring | Level 3 | Warrant Liabilities    
Fair Value Liabilities Measured On Recurring Basis Unobservable Input Reconciliation [Line Items]    
Balance 61  
Additions   145
Changes in fair value, net 1,274 (84)
Balance   $ 61
Fair Value, Recurring | Level 3 | Warrant Liabilities | Tranche B Warrants    
Fair Value Liabilities Measured On Recurring Basis Unobservable Input Reconciliation [Line Items]    
Reclassification of Tranche B Warrants to additional paid-in capital $ (1,335)