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Income Taxes, Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022
Reconciliation of change in liability for unrecognized tax benefits [Roll Forward] |  |
Balance at beginning of year | $ 3,939 | $ 3,761
Increases for tax positions taken in the current year | 876 | 800
Decreases related to settlements with tax authorities | (175) | (209)
Decreases as a result of lapse of the applicable statutes of limitations | (610) | (338)
Foreign currency exchange rate changes | 221 | (75)
Balance at the end of year | 4,251 | 3,939
Income tax uncertainties [Abstract] |  |
Unrecognized tax benefits that would impact the effective tax rate, if recognized | 4,300 |
Income tax interest and penalties accrued | 400 | $ 400
Expected decrease in liability for unrecognized tax benefits in the next fiscal year | 900 |
Unrecognized tax benefits that would impact the effective tax rate in the next fiscal year | $ 800 |

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- Definition The gross amount of increases and decreases in unrecognized tax benefits resulting from foreign currency exchange rate changes. + References No definition available. + Details
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- Definition The total amount of unrecognized tax benefits that, if recognized, would affect the effective tax rate in next fiscal year. + References No definition available. + Details
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- Definition The amount of the unrecognized tax benefit of a position taken for which it is reasonably possible that the total amount thereof will significantly increase or decrease within twelve months of the balance sheet date. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 15 -Subparagraph (d) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-15 + Details
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- Definition Amount of unrecognized tax benefits. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 15A -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-15A Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 45 -Paragraph 10B -Publisher FASB -URI https://asc.fasb.org//1943274/2147482525/740-10-45-10B + Details
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- Definition Amount accrued for interest on an underpayment of income taxes and penalties related to a tax position claimed or expected to be claimed in the tax return. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 15 -Subparagraph (c) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-15 + Details
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- Definition Amount of decrease in unrecognized tax benefits resulting from lapses of applicable statutes of limitations. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 15A -Subparagraph (a)(4) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-15A + Details
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