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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%