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Income Taxes - Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended |  |  |
--- | --- | --- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Income Taxes |  |  |  |
Deferred tax assets | $ 53,428 | $ 31,701 |  |
Increase in deferred tax asset | 20,000 |  |  |
Deferred tax assets valuation allowance | 10,963 | 8,370 |  |
Increase in valuation allowance | 2,600 |  |  |
Cash associated with indefinitely reinvested foreign earnings | 11,800 |  |  |
Unrecognized tax benefits related to uncertain tax positions | 11,926 | 10,443 | $ 9,961 | $ 10,044
Recorded as other long-term liability | 8,344 | $ 7,190 |  |
Interest and penalty expense recognized related to unrecognized tax benefits | $ 500 |  |  |

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- Definition Amount of undistributed earnings of foreign subsidiaries intended to be permanently reinvested outside the country of domicile. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 30 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (b) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482603/740-30-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 25 -Paragraph 3 -Subparagraph (a)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482620/740-10-25-3 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (b) -SubTopic 740 -Topic 942 -Publisher FASB -URI https://asc.fasb.org//1943274/2147481141/942-740-50-1 Reference 4: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (b) -SubTopic 740 -Topic 944 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480135/944-740-50-1 + Details
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