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Fair Value of Financial Instruments (Tables)
12 Months Ended
Dec. 31, 2023
Fair Value Disclosures [Abstract]  
The fair value hierarchy has three levels based on the reliability of the inputs used to determine fair value.

The following tables present our financial assets and liabilities that are measured at fair value on a recurring basis and are categorized using the fair value hierarchy. The fair value hierarchy has three levels based on the reliability of the inputs used to determine fair value.

                          
         Fair Value Measurements at December 31, 2023  
        Quoted Prices in  Significant Other  Significant  
        Active Markets for  Observable  Unobservable  
        Identical Assets  Inputs  Inputs  
   Total    (Level 1)  (Level 2)  (Level 3)  
Assets:                
Short-term investments  $94,304  $ 12,868  $80,614  $822  
Interest rate swaps   3,909       3,909     
Foreign currency forward exchange contracts not accounted for using hedge accounting   359       359     
Foreign currency forward exchange contracts accounted for using hedge accounting   1,533       1,533     
                    
Total Assets  $100,105  $ 12,868  $86,415  $822  

                          
         Fair Value Measurements at December 31, 2022  
       Quoted Prices in  Significant Other  Significant  
        Active Markets for  Observable  Unobservable  
        Identical Assets  Inputs  Inputs  
   Total    (Level 1)  (Level 2)  (Level 3)  
Assets:                
Short-term investments  $150,833  $ 19,861  $130,174  $798  
Interest rate swaps   6,758       6,758      
Foreign currency forward exchange contracts accounted for using hedge accounting  1,189       1,189      
                    
 Total Assets  $158,780  $ 19,861  $138,121  $798  
Liabilities:                   
Foreign currency forward exchange contracts not accounted for using hedge accounting   68       68     
                    
Total liabilities   $68  $   $68  $