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Accounts Receivable - Summary of Allowance for Doubtful Accounts Activity (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Accounts Receivable, Allowance for Credit Loss [Roll Forward]      
Balance at beginning of period $ 2,073 $ 2,441 $ 1,696
Less: reduction in (provision for) allowances 85 320 (764)
Less: write offs, net of recoveries 3 45 19
Change in foreign currency translation 2 (3) 0
Balance at end of period $ 1,987 $ 2,073 $ 2,441