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Income Taxes - Effective Income Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Effective Income Tax Rate Reconciliation, Percent [Abstract]
U.S. Operations	$ (20,116)	$ (53,947)	$ 15,146
Foreign Operations	2,775	(506)	5,003
Income (loss) before income tax	$ (17,341)	$ (54,453)	$ 20,149
Federal statutory rate	21.00%	21.00%	21.00%
Provision (benefit) for income taxes at federal statutory rate	$ (3,642)	$ (11,435)	$ 4,231
State taxes, net of federal benefit	(385)	(2,098)	812
Foreign tax rate differential	135	90	(60)
Change in valuation allowance	2,850	18,353
Excess tax benefit recognized	287	(232)	(2,159)
Foreign Derived Intangible Income			(976)
Foreign tax credit	(96)		(770)
Research and development credit	(558)	(400)	(878)
Global intangible low taxed income	858	325	530
Change in unrecognized tax benefits	(330)	(382)	673
Section 162(m)	1,237	395	634
Other	(18)	477	391
Total	$ 338	$ 5,093	$ 2,428

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Percentage of domestic federal statutory tax rate applicable to pretax income (loss).

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