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Accrued Expenses and Other Current Liabilities - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Accrued Liabilities, Current [Abstract]    
Employee compensation and benefits $ 10,637 $ 8,537
Contract liabilities 2,045 1,348
Accrued interest 0 455
Other 2,557 2,332
Total $ 15,239 $ 12,672