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Income Taxes - Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Income Taxes [Line Items] |  |  |  |
Deferred tax assets and liabilities income tax rate expected to reverse in future | 27.00% |  |  |
Increase in valuation allowance | $ 800 |  |  |
Increase in cumulative foreign tax credit carryforward | 800 |  |  |
Income taxes provided for additional outside basis difference inherent in entities as result of reinvestment | 4,900 |  |  |
Operating loss carryforwards valuation allowance | 500 |  |  |
Deferred tax assets, tax credit carryforwards | 686 | $ 384 |  |
Deferred tax assets, valuation allowance | 9,021 | 7,607 | $ 7,048 | $ 6,839
Valuation allowance, deferred tax asset, increase (decrease), amount | 1,414 | 559 | 209 |
Unrecognized tax benefits | 24,131 | 145 | $ 450 | $ 811
Unrecognized tax benefits that would impact effective tax rate | $ 9,000 | $ 100 |  |
Decrease in effective income tax rate | 7.00% |  |  |
Increase in unrecognized tax benefits | $ 28,100 |  |  |
Minimum |  |  |  |
Income Taxes [Line Items] |  |  |  |
Operating loss carryforwards expiration term | 15 years |  |  |
Maximum |  |  |  |
Income Taxes [Line Items] |  |  |  |
Operating loss carryforwards expiration term | 20 years |  |  |
Canadian Entities [Member] |  |  |  |
Income Taxes [Line Items] |  |  |  |
Decrease in effective income tax rate | 3.80% |  |  |
UK Subsidiaries [Member] |  |  |  |
Income Taxes [Line Items] |  |  |  |
Decrease in effective income tax rate | 5.10% |  |  |
Earliest Tax Year | Internal Revenue Service (IRS) |  |  |  |
Income Taxes [Line Items] |  |  |  |
Open tax year | 2020 |  |  |
Earliest Tax Year | State and Foreign Jurisdictions |  |  |  |
Income Taxes [Line Items] |  |  |  |
Open tax year | 2019 |  |  |
Latest Tax Year | Internal Revenue Service (IRS) |  |  |  |
Income Taxes [Line Items] |  |  |  |
Open tax year | 2022 |  |  |
Latest Tax Year | State and Foreign Jurisdictions |  |  |  |
Income Taxes [Line Items] |  |  |  |
Open tax year | 2022 |  |  |
Foreign Tax Authority |  |  |  |
Income Taxes [Line Items] |  |  |  |
Research and development costs amortization period | 15 years |  |  |
Deferred tax assets, valuation allowance | $ 500 |  |  |
Valuation allowance, deferred tax asset, increase (decrease), amount | $ 8,000 |  |  |
Domestic Tax Authority |  |  |  |
Income Taxes [Line Items] |  |  |  |
Research and development costs amortization period | 5 years |  |  |
Operating loss carryforwards | $ 6,500 |  |  |
Net operating loss carryforwards, expiration year | 2034 |  |  |
Federal and State Jurisdiction |  |  |  |
Income Taxes [Line Items] |  |  |  |
Tax credit carryforward, amount | $ 700 |  |  |
Deferred tax assets, tax credit carryforwards | $ 700 |  |  |
Federal and State Jurisdiction | Earliest Tax Year |  |  |  |
Income Taxes [Line Items] |  |  |  |
Tax credit carryforwards, expiration year | 2024 |  |  |
Federal and State Jurisdiction | Latest Tax Year |  |  |  |
Income Taxes [Line Items] |  |  |  |
Tax credit carryforwards, expiration year | 2034 |  |  |

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