v3.24.0.1
Income Taxes - Narrative (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Examination [Line Items]      
Deferred tax assets, valuation allowance $ 101,650 $ 93,542  
Operating loss carryforwards, domestic 44,100    
Foreign tax credit carryforwards 21,900    
Research and development tax credit 10,500    
Undistributed earnings of foreign subsidiaries 78,100    
Unrecognized tax benefits, income tax penalties and interest expense (2,000) 1,100 $ 600
Unrecognized tax benefits, income tax penalties and interest accrued 3,100 $ 4,200  
Unrecognized tax benefits, estimated reduction of income tax expense 1,200    
Unrecognized tax benefits that would impact effective tax rate 20,000    
Domestic Tax Authority      
Income Tax Examination [Line Items]      
Net operating loss carryforward, subject to expiration 14,200    
Net operating loss carryforwards, not subject to expiration 11,700    
Foreign Tax Authority      
Income Tax Examination [Line Items]      
Net operating loss carryforward, subject to expiration 3,100    
Net operating loss carryforwards, not subject to expiration 17,900    
Operating loss carryforwards 31,500    
Foreign Tax Authority | Research Tax Credit Carryforward      
Income Tax Examination [Line Items]      
Tax credit carryforward, amount 3,400    
SEC Schedule, 12-09, Valuation Allowance, Deferred Tax Asset      
Income Tax Examination [Line Items]      
Valuation allowance, charged to cost and expense (4,600)    
Valuation allowance, foreign currency translation $ (3,500)