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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