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Income Taxes - Statutory Tax Rate Reconciliation (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Income Taxes      
Statutory tax rate percentage 21.00% 21.00% 21.00%
Reconciliation of statutory tax and provision      
Expected tax at statutory rate $ (5,490) $ (718) $ 3,026
Foreign taxes at other rates 307 (309) (914)
Valuation reserves on NOL carryforwards 15,019 2,617 2,042
Global intangible low-taxed income inclusion   339 (27)
State income taxes, net of federal benefit (811) 32 108
Uncertain tax positions 12 235 1,845
Research credits (3,466) (1,029)  
Disallowed expenses and other (1,130) 868 465
Total $ 4,441 $ 2,035 $ 6,545