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Income Taxes - Additional Information (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Operating Loss Carryforwards [Line Items]    
Change in valuation allowance for deferred tax assets $ 2,800,000 $ 18,400,000
Unrecognized tax positions of prior years due to settled tax positions 100,000 $ 300,000
Offset valuation allowance 300,000  
Unrecognized tax benefits that would impact effective tax rate 2,000,000  
Decrease for tax positions of current years 700,000  
Unrecognized tax benefits inclusive of interest and penalties 2,900,000  
Interest and penalties 600,000  
Undistributed earnings of foreign subsidiaries $ 16,100,000  
Excise tax due to inflation reduction act 0.00% 1.00%
State and Local Jurisdiction    
Operating Loss Carryforwards [Line Items]    
Credit carryforwards $ 400  
2029 | Federal    
Operating Loss Carryforwards [Line Items]    
NOL available to offset future income 26,200,000  
2029 | State and Local Jurisdiction    
Operating Loss Carryforwards [Line Items]    
NOL available to offset future income 48,000,000  
2042 | Federal    
Operating Loss Carryforwards [Line Items]    
Credit carryforwards $ 800