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Income Taxes - Narrative (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items] |  |  |
Increase (Decrease) in valuation allowance | $ 2,700 | $ 573 | $ 5,600
U.S. federal net operating loss carryforwards | 29,700 |  |
Foreign operating loss carryforwards | 22,200 |  |
Foreign withholding tax | 320 | 288 | 228
Tax benefit from restructuring of foreign entities | 4,300 |  |
Unrecognized tax benefits including interest and penalties | 1,900 | 2,000 |
Unrecognized tax benefits that would impact effective rate | 1,900 | 2,000 |
Unrecognized tax benefits reduction to non-current deferred income tax assets | 0 | 1,000 |
Accrued interest and penalties | 336 | 322 |
Increase (decrease) of uncertain tax benefits related to certain liabilities for unrecognized tax benefits | 14 | $ 46 | $ (90)
Maximum |  |  |
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items] |  |  |
Estimated decrease in unrecognized tax benefit in next twelve months | 109 |  |
Domestic |  |  |
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items] |  |  |
Operating loss carryforward, expiring | 29,600 |  |
Operating loss carryforward, no expiration | $ 97 |  |
Period to utilize the net operating loss carryforwards | 13 years |  |
NOL carryforward used in period | $ 15,900 |  |
Foreign |  |  |
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items] |  |  |
Operating loss carryforward, expiring | 1,100 |  |
Operating loss carryforward, no expiration | $ 21,100 |  |

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