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Income Taxes - Narrative (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items] |  |  |
Increase (Decrease) in valuation allowance | $ 213 | $ 2,700 | $ 573
Foreign withholding tax | 434 | 320 | 288
Tax benefit from restructuring of foreign entities |  | 4,300 |
Unrecognized tax benefits including interest and penalties | 1,900 | 1,900 |
Unrecognized tax benefits that would impact effective rate | 1,900 | 1,900 |
Unrecognized tax benefits reduction to non-current deferred income tax assets | 0 | 0 |
Accrued interest and penalties | 290 | 336 |
Increase (decrease) of uncertain tax benefits related to certain liabilities for unrecognized tax benefits | (46) | $ 14 | $ 46
Estimated increase in unrecognized tax liability in next twelve months | 7 |  |
Domestic |  |  |
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items] |  |  |
Net operating loss carryforwards | 24,700 |  |
Operating loss carryforward, expiring | $ 24,700 |  |
Period to utilize the net operating loss carryforwards | 12 years |  |
NOL carryforward used in period | $ 5,000 |  |
Foreign |  |  |
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items] |  |  |
Operating loss carryforward, expiring | 2,000 |  |
Operating loss carryforward, no expiration | 20,600 |  |
Foreign operating loss carryforwards | $ 22,600 |  |

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