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Summary of Significant Accounting Policies - Trade Accounts Receivables and Allowance for Doubtful Accounts (Details) - USD ($)
$ in Thousands
12 Months Ended
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%