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Income Taxes - Components of Income Tax Provision (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Current:      
United States $ 0 $ 155 $ 370
U.S. state 1,135 1,191 250
Foreign 1,572 2,114 (1,322)
Current, Total 2,707 3,460 (702)
Deferred:      
United States 2,061 266 (7,662)
U.S. state (721) (12) (177)
Foreign (1,114) 1,766 (800)
Deferred, Total 226 2,020 (8,639)
Total income tax provision (benefit) $ 2,933 $ 5,480 $ (9,341)