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Income Taxes - Statutory tax rate reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Expected tax at statutory rate	$ (2,456)	$ (5,490)	$ (718)
Foreign taxes at other rates	3,373	307	(309)
Valuation allowance changes	4,370	15,019	2,617
Global intangible low-taxed income inclusion	0	0	339
State income taxes, net of federal benefit	(322)	(811)	32
Uncertain tax positions	(515)	12	235
Research credits	(2,568)	(3,466)	(1,029)
Disallowed expenses and other	859	(1,130)	868
Total	$ 2,741	$ 4,441	$ 2,035

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Amount of reported income tax expense (benefit) in excess of (less than) expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operations, attributable to increase (decrease) from transition tax on distributions from controlled foreign corporations deemed repatriated pursuant to Tax Cuts and Jobs Act of 2017.

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Amount of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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