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Comprehensive Income - Accumulated other comprehensive loss (Details) - USD ($) $ in Thousands | Mar. 31, 2024 | Dec. 31, 2023 | Mar. 31, 2023 | Dec. 31, 2022
--- | --- | --- | --- | ---
Comprehensive Income |  |  |  |
Foreign currency translation adjustments | $ (9,046) | $ (7,954) | $ (8,902) | $ (8,596)
Pension liability, net of tax | (9,284) | (9,357) | $ (11,498) | $ (11,597)
Total accumulated other comprehensive loss | $ (18,330) | $ (17,311) |  |

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