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Significant Accounting Policies - Translation of Foreign Currency and Foreign Currency Forward Contracts (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Derivative [Line Items] |  |  |
Foreign currency transaction gain (loss), before tax | $ (2,300) | $ (4,000) | $ 1,300
Foreign currency forward contracts – Gross notional amount | Selling, General and Administrative Expenses |  |  |
Derivative [Line Items] |  |  |
Foreign currency forward contracts not designated in accounting hedge relationship | $ 4,871 | $ 9,008 | $ (6,269)

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