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Income Taxes (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Income before taxes      
Domestic $ (16,663) $ 19,244 $ (39,937)
Foreign 8,838 4,042 3,398
Income (loss) before income taxes $ (7,825) $ 23,286 $ (36,539)