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Income Taxes - Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Jan. 01, 2022
Operating Loss Carryforwards [Line Items] |  |  |  |
Income tax (provision) benefit | $ 2,960 | $ 2,264 | $ 3,833 |
(Loss) income before income taxes | $ (19,303) | $ 17,306 | $ (31,195) |
Effective income tax rate (as a percent) | 15.30% | (13.10%) | 12.30% |
Additional paid-in capital | $ 391,048 | $ 364,913 |  |
Accumulated deficit | 64,890 | 48,547 |  |
Deferred tax liability | (33,021) | (38,466) |  |
Federal tax credits | 12,800 |  |  |
Unrecognized tax benefits | 6,170 | 4,800 | $ 3,062 |
Income tax penalties and interest expense | 300 | $ 300 |  |
Federal Ministry of Finance, Germany |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Net operating loss carryforwards | 44,300 |  |  |
Tax and Customs Administration, Netherlands |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Net operating loss carryforwards | 16,300 |  |  |
State |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Net operating loss carryforwards | $ 63,900 |  |  |
Cumulative effect of adoption, adjusted balance | Accounting Standards Update 2020-06 |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Additional paid-in capital |  |  |  | $ (156,200)
Accumulated deficit |  |  |  | 8,800
Deferred tax liability |  |  |  | $ 1,000

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