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Income Taxes - Provision for Income Taxes (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Current:      
State $ 73 $ 70 $ 112
Foreign 2,263 2,634 1,783
Total current expense 2,336 2,704 1,895
Deferred:      
Federal (278) (7,712) (11,646)
State (423) (191) (1,564)
Foreign (1,396) (1,545) (1,126)
Change in valuation allowance   8,983 14,127
Total deferred expense (2,097) (465) (209)
Total provision for income taxes $ 239 $ 2,239 $ 1,686