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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)