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Taxes on Income - Uncertain Tax Positions - Tabular Reconciliation (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward] |  |  |
Unrecognized tax benefits as of January 1 | $ 16,340 | $ 22,464 | $ 22,152
Increase in unrecognized tax benefits taken in prior periods |  |  | 1,002
Decrease in unrecognized tax benefits taken in prior periods | (147) | (1,174) |
Increase in unrecognized tax benefits taken in current period | 1,799 | 953 | 2,915
Decrease in unrecognized tax benefits due to lapse of statute of limitations | (2,736) | (2,378) | (1,527)
Decrease in unrecognized tax benefits due to audit settlements | 0 | (2,509) | (1,104)
Increase due to foreign exchange rates | 403 |  |
Decrease due to foreign exchange rates |  | (1,016) | (974)
Unrecognized tax benefits as of December 31 | $ 15,659 | $ 16,340 | $ 22,464

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