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Income Taxes - Reconciliation to federal statutory rate (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Expense (Benefit), Effective Income Tax Rate Reconciliation, Amount [Abstract]
Federal income taxes at statutory rate	$ 9,945	$ 1,060	$ 9,211
State income taxes, net of federal benefit	2,082	3,087	2,310
Goodwill impairment	0	4,221	0
Foreign taxes	5,872	3,232	2,896
Change in valuation allowance	2,131	11,611	(1,185)
Research and development credits	(607)	(400)	(436)
Foreign tax credits	(1,668)	(492)	(1,083)
Nondeductible meals and entertainment	643	439	254
Change in permanent reinvestment assertion	280	320	627
Disposals and liquidations of businesses	(305)	188	0
Global intangible low-tax income, net of credits	0	0	531
Foreign-derived intangible income deduction	(223)	(189)	(94)
Tax rate changes	(104)	(36)	(431)
Other	(949)	537	716
Provision for income taxes	$ 17,097	$ 23,578	$ 13,316

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