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Income Taxes - Provision for income taxes (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Current:      
Federal $ 122 $ (11) $ 1,715
State 32 (23) 49
Foreign 1,665 2,478 1,758
Total current 1,819 2,444 3,522
Deferred:      
Federal (349) 3,774 1,385
State 35 (3) (24)
Foreign 1,236 (1,774) (2,848)
Total deferred 922 1,997 (1,487)
Total $ 2,741 $ 4,441 $ 2,035