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Summary of Significant Accounting Policies - Trade Accounts Receivables and Allowance for Doubtful Accounts (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Trade Accounts Receivables and Allowance for Doubtful Accounts |  |  |
Trade receivables, allowances | $ 3,278 | $ 3,264 |
Accounts Receivable | Credit Concentration Risk | Customer One |  |  |
Concentration Risk [Line Items] |  |  |
Concentration risk, percentage | 19.00% | 17.00% |
Accounts Receivable | Credit Concentration Risk | Customer Two |  |  |
Concentration Risk [Line Items] |  |  |
Concentration risk, percentage | 13.00% | 14.00% |
Revenue from Contract with Customer Benchmark | Customer Concentration Risk | Top Ten Customers |  |  |
Concentration Risk [Line Items] |  |  |
Concentration risk, percentage | 47.00% |  |
Revenue from Contract with Customer Benchmark | Customer Concentration Risk | Customer One |  |  |
Concentration Risk [Line Items] |  |  |
Concentration risk, percentage | 12.00% | 12.00% | 12.00%

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