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Income Taxes - Provision (Benefit) for Income Taxes (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Current      
Federal $ 1,372 $ (644) $ (182)
States and local 705 464 246
Foreign 2,063 3,251 3,641
Reserve for uncertain tax positions 16 136 (186)
Total current provision (benefit) 4,156 3,207 3,519
Deferred      
Federal (2,005) (435) (309)
States and local (122) 242 (138)
Foreign (1,439) (1,614) (1,884)
Reserve for uncertain tax positions 0 0 155
Total deferred benefit (3,566) (1,807) (2,176)
Change in valuation allowance (1,810) 1,320 2,052
Net deferred benefit (5,376) (487) (124)
Total provision (benefit) for income taxes $ (1,220) $ 2,720 $ 3,395