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Schedule II Valuation and Qualifying Accounts (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Allowance for doubtful accounts and returns      
Changes in Valuation and Qualifying Accounts      
Charged to Costs and Expenses $ 1,117    
Deductions 657    
Balance at End of Period 460    
Deferred tax valuation allowance      
Changes in Valuation and Qualifying Accounts      
Balance at Beginning of Period 8,370 $ 7,689 $ 9,133
Charged to Costs and Expenses 3,196 1,529 780
Deductions 603 848 2,224
Balance at End of Period $ 10,963 $ 8,370 $ 7,689