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Income Taxes - Components of the Company's pretax income (loss) before taxes (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
Domestic (including U.S. exports) $ (54,649) $ 3,966 $ 11,266
Foreign subsidiaries 37,244 36,785 15,397
Income Before Income Taxes $ (17,405) $ 40,751 $ 26,663