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Income Taxes - Reconciliation of unrecognized tax benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Unrecognized income tax benefits [Rollforward]      
Beginning of year $ 3,653 $ 3,750 $ 3,778
Additions for tax positions related to prior years 432    
Reductions for tax positions related to prior years (153) (97) (11)
Reductions for settlements     (21)
Currency translation adjustment     (4)
Lapses of applicable statutes of limitation (344)    
Ending of year $ 3,588 $ 3,653 $ 3,750