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Income Taxes Income taxes (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Unrecognized Tax Benefit [Roll Forward] |  |  |  |
Beginning Balance | $ 1,145 | $ 1,145 | $ 2,295 |
Unrecognized Tax Benefits, Increase Resulting from Prior Period Tax Positions | 0 | 0 | 0 |
Reductions for tax positions of prior years | 907 | 0 | 1,150 |
Ending Balance | 238 | 1,145 | 1,145 |
Valuation Allowance, Deferred Tax Asset, Increase (Decrease), Amount | 233 |  |  |
Less: valuation allowance | 3,715 | 3,948 | 3,753 | $ 4,968
Deferred Tax Liabilities, Undistributed Foreign Earnings | 2,917 | 2,599 |  |
Deferred Income Tax Expense (Benefit) | $ 6,105 | $ 3,601 | $ 1,280 |

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