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Restructuring Costs (Tables)
12 Months Ended
Dec. 31, 2023
Restructuring and Related Activities [Abstract]  
Restructuring and Related Costs
The following table summarizes the activity to date related to these programs in the accrued restructuring liability, which is comprised of the activity associated primarily with the employee termination costs. The accrued restructuring liability balance as of December 31, 2023 and 2022, respectively, is included in other accrued expenses in the accompanying consolidated balance sheets (in thousands):
December 31,
20232022
Balance at beginning of year$183 $— 
Restructuring charges1,560 1,518 
Cash payments(1,496)(1,338)
Foreign currency translation2 
Balance at end of year$249 $183