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Intangible Assets and Goodwill - Schedule of Estimated Annual Amortization of Intangible Assets (Details) - USD ($)
$ in Thousands
Mar. 31, 2024
Dec. 31, 2023
Intangible Assets, Net (Excluding Goodwill) [Abstract]    
2024 (remaining nine months) $ 2,226  
2025 2,958  
2026 557  
2027 356  
Thereafter 1,396  
Total $ 7,493 $ 8,234