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Goodwill and Intangible Assets - Amortization of Intangible Assets by Fiscal Year (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Goodwill and Intangible Assets Disclosure [Abstract]    
2024 $ 5,506  
2025 4,769  
2026 3,451  
2027 2,126  
2028 1,679  
Thereafter 5,361  
Net Carrying Amount $ 22,892 $ 28,234