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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