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Income Taxes - Income Attributable to Domestic and Foreign Operations (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Income (loss) from continuing operations before income taxes      
Domestic $ 47,368 $ 23,561 $ (10,292)
Foreign 3,617 2,119 1,828
Income before income taxes $ 50,985 $ 25,680 $ (8,464)