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Restructuring - Restructuring Activity (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Restructuring Reserve [Roll Forward]        
Expenses $ 547 $ 0 $ 630 $ 0
Realignment        
Restructuring Reserve [Roll Forward]        
Accrual, Beginning Balance 38   150  
Expenses 547 $ 0 630 $ 0
Payments/Write-offs (14)   (209)  
Accrual, Ending Balance 571   571  
Employee termination benefits | Realignment        
Restructuring Reserve [Roll Forward]        
Accrual, Beginning Balance 38   150  
Expenses 0   62  
Payments/Write-offs (14)   (188)  
Accrual, Ending Balance 24   24  
Other restructuring costs | Realignment        
Restructuring Reserve [Roll Forward]        
Accrual, Beginning Balance 0   0  
Expenses 547   568  
Payments/Write-offs 0   (21)  
Accrual, Ending Balance $ 547   $ 547