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Income Taxes - Provision (Benefit) for Income Taxes Computed By Applying Statutory Federal Tax Rate (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Effective Income Tax Rate Reconciliation, Amount [Abstract]
Federal tax at statutory rate	$ 1,952	$ 1,527	$ (23,976)
State taxes, net of federal benefit	622	75	(1,175)
Foreign tax	218	380	(815)
Goodwill impairment	0	0	10,003
Nondeductible compensation	0	119	975
US taxation of foreign earnings	100	(1,041)	56
Permanent differences	363	373	944
Research and Development Credit	(1,716)	(214)	(236)
Federal loss carryback	0	0	(1,938)
Change in valuation allowance	1,320	2,052	1,136
Impact of foreign tax rate changes	(246)	49	392
Other	107	75	(72)
Total provision (benefit) for income taxes	$ 2,720	$ 3,395	$ (14,706)
Effective Income Tax Rate Reconciliation, Percent [Abstract]
Federal tax at statutory rate	21.00%	21.00%	21.00%
State taxes, net of federal benefit	6.70%	1.00%	1.00%
Foreign tax	2.30%	5.20%	0.70%
Goodwill impairment	0.00%	0.00%	(8.80%)
Nondeductible compensation	0.00%	1.60%	(0.90%)
US taxation of foreign earnings	1.10%	(14.30%)	0.00%
Permanent differences	3.90%	5.10%	(0.80%)
Research and Development Credit	(18.50%)	2.90%	0.20%
Federal loss carryback	0.00%	0.00%	1.70%
Change in valuation allowance	14.20%	28.20%	(1.00%)
Impact of foreign tax rate changes	(2.60%)	0.70%	(0.30%)
Other	1.20%	1.00%	0.10%
Total provision (benefit) for income taxes	29.30%	52.40%	12.90%

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Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to research tax credit.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 12
-URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32687-109319

+ Details

Name:	us-gaap_IncomeTaxReconciliationTaxCreditsResearch
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	duration