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Schedule II - Valuation and Qualifying Accounts (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Allowance for doubtful accounts |  |  |
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |
Allowance as of beginning of year | $ 2,019 | $ 1,677 | $ 1,493
Additions charged to costs and operating expenses | 1,484 | 2,084 | 572
Additions charged to other accounts |  | 0 | 0
Deductions | 0 | 0 | 0
Allowance as of end of year | 3,449 | 2,019 | 1,677
Valuation allowance for deferred tax assets |  |  |
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |
Allowance as of beginning of year | 8,337 | 8,257 | 7,926
Additions charged to costs and operating expenses | 75 | 80 | 331
Additions charged to other accounts | 1,494 | 0 | 0
Deductions | 0 | 0 | 0
Allowance as of end of year | $ 9,906 | $ 8,337 | $ 8,257

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- Definition Amount of valuation and qualifying accounts and reserves. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 235 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 4 -Subparagraph (SX 210.12-09(Column B)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480678/235-10-S99-4 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 235 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 4 -Subparagraph (SX 210.12-09(Column E)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480678/235-10-S99-4 + Details
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