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Income Taxes - Income Tax Expense (Benefit) (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Current:      
Federal $ 72 $ 15 $ 11
State 119 79 79
Foreign 1,409 1,156 977
Total current expense 1,600 1,250 1,067
Deferred:      
Federal 0 0 0
State 0 0 0
Foreign (908) (472) (184)
Total deferred benefit (908) (472) (184)
Total income tax expense $ 692 $ 778 $ 883