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Inventories - Inventory reserve (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Inventory Valuation Reserves Increase (Decrease) [Roll Forward]    
Balance at beginning of period $ 39,291 $ 62,885
Charged to expense 2,784 2,698
Deductions or other (3,888) (26,292)
Balance at end of period $ 38,187 $ 39,291