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Income Taxes - Reconciliation to federal statutory rate (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Expense (Benefit), Effective Income Tax Rate Reconciliation, Amount [Abstract]
Federal income taxes at statutory rate	$ 1,060	$ 9,211	$ 8,208
State income taxes, net of federal benefit	3,087	2,310	325
Goodwill impairment	4,221	0	2,322
Foreign taxes	3,232	2,896	3,328
Change in valuation allowance	11,611	(1,185)	(374)
Research and development credits	(400)	(436)	(1,001)
Foreign tax credits	(492)	(1,083)	(1,150)
Nondeductible meals and entertainment	439	254	377
Change in permanent reinvestment assertion	320	627	776
Disposals and liquidations of businesses	188	0	(935)
Global intangible low-tax income, net of credits	0	531	(54)
Foreign-derived intangible income deduction	(189)	(94)	(115)
Tax rate changes	(36)	(431)	(359)
Other	537	716	665
Provision for income taxes	$ 23,578	$ 13,316	$ 12,013

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