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Income Taxes - Income tax expense (benefit) (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Current Federal, State and Local, Tax Expense (Benefit)      
State $ 529 $ 179 $ 201
Foreign 1,619 (99) 510
Total current 2,148 80 711
Deferred expense (benefit)      
Federal 173 (4,617) (15,230)
State 81 (901) (3,003)
Foreign (2,291) 2,070 (23)
Total deferred (2,037) (3,448) (18,256)
Income tax expense (benefit) $ 111 $ (3,368) $ (17,545)