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Income Taxes - Statutory tax rate reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Expected tax at statutory rate	$ (5,736)	$ (2,456)	$ (5,490)
Foreign taxes at other rates	(213)	3,373	307
Valuation allowance changes	8,513	4,370	15,019
Global intangible low-taxed income inclusion	0	0	0
State income taxes, net of federal benefit	(170)	(322)	(811)
Uncertain tax positions	0	(515)	12
Research credits	(633)	(2,568)	(3,466)
Disallowed expenses and other	725	859	(1,130)
Total	$ 2,486	$ 2,741	$ 4,441

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Amount of reported income tax expense from difference to expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operations, attributable to global intangible low-taxed income (GILTI).

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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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