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Income Taxes - Income (Loss) Before Provision for Income Taxes (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income (loss) before provision (benefit) for income taxes from:      
U.S. operations $ (6,900) $ 439 $ 1,527
Foreign operations (11,765) 8,855 5,761
Income (loss) before provision (benefit) for income taxes $ (18,665) $ 9,294 $ 7,288