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Income Taxes - Effective Tax Rate Reconciliation (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Effective Tax Rate Reconciliation      
Income tax expense at U.S. statutory rate $ 20,800 $ 15,600 $ 17,900
State income taxes, net of federal tax benefit 1,500 3,100 (900)
U.S. taxation of international operations 1,400 1,300 (200)
Effective tax rate differential of earnings outside of U.S. 1,900 1,800 2,400
Change in valuation allowance (11,600) (5,900) (4,200)
Research & experimentation (2,900) (1,000) (1,000)
Provision to return 5,000 300 (100)
Net non-deductible items 400 2,400 1,200
Change in uncertain tax positions (300) (200) (600)
Share-based compensation (1,100) (4,100) (1,700)
Tax effect of 2017 tax reform federal rate change 0 0 (200)
Other items 800 200 2,300
Income tax expense, net $ 15,900 $ 13,500 $ 14,900