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Income Taxes - Schedule of Reconciliation of Beginning and Ending Amount of Gross Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Income Tax Disclosure [Abstract]      
Gross unrecognized tax benefits $ 14,796 $ 7,391 $ 4,374
Increases related to prior year tax positions 422 999 126
Increases related to current year tax positions 2,444 6,911 3,327
Decreases related to prior year tax positions (1,160)    
Settlements with taxing authorities     (119)
Lapse of statue of limitations (1,804) (505) (317)
Gross unrecognized tax benefits $ 14,698 $ 14,796 $ 7,391