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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, 2023
Dec. 31, 2022
Dec. 31, 2021
Effective Income Tax Rate Reconciliation, Amount [Abstract]      
Federal tax at statutory rate $ (3,920) $ 1,952 $ 1,527
State taxes, net of federal benefit 611 622 75
Foreign tax 274 218 380
Goodwill impairment 2,901 0 0
Nondeductible compensation 716 0 119
US taxation of foreign earnings 98 100 (1,041)
Permanent differences 485 363 373
Research and Development Credit (602) (1,716) (214)
Change in valuation allowance (1,810) 1,320 2,052
Impact of foreign tax rate changes (246) 49
Other 27 107 75
Total provision (benefit) for income taxes $ (1,220) $ 2,720 $ 3,395
Effective Income Tax Rate Reconciliation, Percent [Abstract]      
Federal tax at statutory rate 21.00% 21.00% 21.00%
State taxes, net of federal benefit (3.30%) 6.70% 1.00%
Foreign tax (1.50%) 2.30% 5.20%
Goodwill impairment (15.50%) 0.00% 0.00%
Nondeductible compensation (3.80%) 0.00% 1.60%
US taxation of foreign earnings (0.50%) 1.10% (14.30%)
Permanent differences (2.60%) 3.90% 5.10%
Research and Development Credit 3.20% (18.50%) (2.90%)
Change in valuation allowance 9.70% 14.20% 28.20%
Impact of foreign tax rate changes 0.00% (2.60%) 0.70%
Other (0.10%) 1.20% 1.00%
Total provision (benefit) for income taxes 6.50% 29.30% 46.60%