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Income Taxes - Narrative (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Operating Loss Carryforwards [Line Items] |  |  |
Unremitted earnings of foreign subsidiaries | $ 36,155,000 |  |
General business tax credit carry forwards, expiration date | Dec. 31, 2026 |  |
Unrecognized tax benefits that would impact effective tax rate | $ 2,545,000 | $ 2,891,000 |
Expense related to interest and penalties | 0 | $ 0 | $ 0
Domestic Tax Authority |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
General business and foreign tax credit carry forwards | 19,055,000 |  |
State and Local Jurisdiction |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Net operating loss carry forwards | 48,430,000 |  |
General business and foreign tax credit carry forwards | $ 1,083,000 |  |
State and Local Jurisdiction | Minimum |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Operating loss carry forwards, expiration dates | Dec. 31, 2023 |  |
State and Local Jurisdiction | Maximum |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Operating loss carry forwards, expiration dates | Dec. 31, 2041 |  |
Foreign Tax Authority |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Net operating loss carry forwards | $ 73,553,000 |  |
General business and foreign tax credit carry forwards | $ 664,000 |  |
Foreign Tax Authority | Minimum |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Operating loss carry forwards, expiration dates | Dec. 31, 2023 |  |
Foreign Tax Authority | Maximum |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Operating loss carry forwards, expiration dates | Dec. 31, 2027 |  |

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