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Income Taxes - Income before Income Taxes (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Operating Loss Carryforwards [Line Items] |  |  |
Total income before income taxes | $ 69,569 | $ 76,599 | $ 113,957
United States |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Total income before income taxes | 46,646 | 57,804 | 128,822
Foreign |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Total income before income taxes | $ 22,923 | $ 18,795 | $ (14,865)

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