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Goodwill and Other Intangible Assets - Schedule of Intangible Assets (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Finite-lived Intangible Assets [Roll Forward]    
Total intangible assets, gross carrying value $ 11,876 $ 11,660
Finite-lived intangible assets, accumulated amortization 10,142 9,048
Total intangible assets, net book value 1,734 2,612
Total 1,601  
Finite-lived intangible assets, gross carrying value (1,159) (1,375)
Finite-lived intangible assets, accumulated amortization (1,292) (1,344)
Total 133 (31)
Customer Relationships    
Finite-lived Intangible Assets [Roll Forward]    
Finite-lived intangible assets, gross carrying value 8,085 8,085
Finite-lived intangible assets, accumulated amortization 7,214 6,750
Total 871 1,335
Trade Names    
Finite-lived Intangible Assets [Roll Forward]    
Finite-lived intangible assets, gross carrying value 3,066 3,066
Finite-lived intangible assets, accumulated amortization 2,607 2,147
Total 459 919
Developed Technology    
Finite-lived Intangible Assets [Roll Forward]    
Finite-lived intangible assets, gross carrying value 1,884 1,884
Finite-lived intangible assets, accumulated amortization 1,613 1,495
Total $ 271 $ 389