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Income Taxes - Additional Information (Details) - USD ($) $ in Thousands |  | 12 Months Ended |
--- | --- | --- | ---
Dec. 15, 2022 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Tax Credit Carryforward [Line Items] |  |  |  |  |
Effective tax rate |  | 23.07% | 24.07% | 35.57% |
U.S. statutory federal tax rate |  | 21.00% | 21.00% | 21.00% |
Excise taxes on share repurchases |  | $ 500 |  |  |
Income Tax Examination, Description |  | The Company is no longer subject to U.S. federal examinations by tax authorities for years before 2012, and state, local, and non-U.S. income tax examinations by tax authorities before 2005. |  |  |
Research and development tax credit carryforward, amount |  |  | $ 4,400 |  |
Valuation allowance |  | $ (1,863) | (1,467) |  |
Accumulated unremitted foreign earnings |  | 56,200 |  |  |
Unrecognized Tax Benefits |  | $ 1,011 | $ 972 | $ 1,399 | $ 1,341
Foreign |  |  |  |  |
Tax Credit Carryforward [Line Items] |  |  |  |  |
Operating loss carryforwards expiration year |  | 2024 |  |  |
State |  |  |  |  |
Tax Credit Carryforward [Line Items] |  |  |  |  |
Operating loss carryforwards expiration year |  | 2026 |  |  |
Minimum | European Union (EU) |  |  |  |  |
Tax Credit Carryforward [Line Items] |  |  |  |  |
Effective tax rate | 15.00% |  |  |  |

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