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Segment Reporting and Foreign Operations - Long-lived Assets by Geographic Area (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | --- | ---
Revenues from External Customers and Long-Lived Assets [Line Items] |  |  |
Long-lived assets | $ 383,523 | $ 382,976 | $ 371,658
United States |  |  |
Revenues from External Customers and Long-Lived Assets [Line Items] |  |  |
Long-lived assets | 273,105 | 281,290 | 275,311
Ireland |  |  |
Revenues from External Customers and Long-Lived Assets [Line Items] |  |  |
Long-lived assets | 42,333 | 40,749 | 39,863
Other foreign countries |  |  |
Revenues from External Customers and Long-Lived Assets [Line Items] |  |  |
Long-lived assets | $ 68,085 | $ 60,937 | $ 56,484

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