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Accumulated Other Comprehensive Loss - Changes in Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022
AOCI Attributable to Parent, Net of Tax [Roll Forward] |  |
Beginning balance | $ 154,660 | $ 265,882
Foreign currency translation adjustments | (460) | (637)
Ending balance | 35,598 | 154,660
AOCI Attributable to Parent |  |
AOCI Attributable to Parent, Net of Tax [Roll Forward] |  |
Beginning balance | (5,211) | (4,574)
Ending balance | $ (5,671) | $ (5,211)

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