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Allowance Accounts (Tables) | 12 Months Ended
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Dec. 31, 2023
Credit Loss [Abstract] |
Schedule of activities in allowance for credit losses and deferred tax assets | The following table sets forth the activity in our valuation accounts for each of the three years in the period ended December 31, 2023 (in thousands): ​
​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Allowance for | ​ | Deferred Tax Asset
​ |  | Credit Losses |  | Valuation Allowance
Balance at December 31, 2020 | ​ | $ | 3,469 | ​ | $ | 19,722
Additions (reductions) (1) | ​ |  | (146) | ​ |  | —
Write-offs (2) | ​ | ​ | (1,846) | ​ | ​ | —
Adjustments (3) | ​ |  | — | ​ |  | (5,675)
Balance at December 31, 2021 | ​ | ​ | 1,477 | ​ | ​ | 14,047
Additions (reductions) (1) | ​ | ​ | 800 | ​ | ​ | —
Adjustments (4) | ​ | ​ | — | ​ | ​ | 8,110
Balance at December 31, 2022 | ​ | ​ | 2,277 | ​ | ​ | 22,157
Additions (reductions) (1) (5) | ​ |  | 1,149 | ​ |  | 51,354
Write-offs (2) | ​ | ​ | (19) | ​ | ​ | —
Adjustments (4) | ​ |  | — | ​ |  | 7,604
Balance at December 31, 2023 | ​ | $ | 3,407 | ​ | $ | 81,115
(1) | The additions (reductions) in allowance for credit losses relate to reserves (releases) for expected credit losses during the respective years.
(2) | The write-offs of allowance for credit losses reflect certain receivables related to our Robotics segment that were previously reserved and subsequently deemed to be uncollectible.
(3) | The decrease in valuation allowance primarily relates to the valuation allowance release for certain of our U.K. operations.
(4) | The increase in valuation allowance relates to current year activity, including adjustments to prior year returns, and the related change in unrealized net deferred tax assets.
(5) | The addition in valuation allowance relates to the adjustment for a change in assessment on the realizability of our Luxembourg net operating losses from remote to less likely than not.

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- Definition Tabular disclosure of allowance for credit loss on accounts receivable and valuation allowances to reduce deferred tax assets to net realizable value, including identification of the deferred tax asset more likely than not will not be fully realized and the corresponding amount of the valuation allowance. + References No definition available. + Details
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- References No definition available. + Details
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