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Income Taxes - Provision for income taxes (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Current:      
Federal $ 2 $ 122 $ (11)
State 54 32 (23)
Foreign 2,473 1,665 2,478
Total current 2,529 1,819 2,444
Deferred:      
Federal 361 (349) 3,774
State (47) 35 (3)
Foreign (357) 1,236 (1,774)
Total deferred (43) 922 1,997
Total $ 2,486 $ 2,741 $ 4,441