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Summary of Significant Accounting Policies - Changes in Accumulated Other Comprehensive Income (Loss) by Component (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward] |  |  |
Beginning balance | $ 280,942 | $ 295,950 | $ 296,634
Other comprehensive (loss) income before reclassifications | 10,935 | (4,355) |
Amounts reclassified from accumulated other comprehensive loss | (581) | (1,763) |
Other comprehensive income (loss), net of tax | 10,354 | (6,118) | (7,389)
Ending balance | 287,717 | 280,942 | 295,950
Accumulated other comprehensive (loss) income |  |  |
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward] |  |  |
Beginning balance | (103,142) | (97,024) | (89,635)
Ending balance | (92,788) | (103,142) | (97,024)
Foreign currency translation |  |  |
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward] |  |  |
Beginning balance | (103,374) | (97,203) |
Other comprehensive (loss) income before reclassifications | 9,118 | (6,171) |
Amounts reclassified from accumulated other comprehensive loss | 0 | 0 |
Other comprehensive income (loss), net of tax | 9,118 | (6,171) |
Ending balance | (94,256) | (103,374) | (97,203)
Unrealized gain (loss) on derivatives |  |  |
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward] |  |  |
Beginning balance | 232 | 179 |
Other comprehensive (loss) income before reclassifications | 1,817 | 1,816 |
Amounts reclassified from accumulated other comprehensive loss | (581) | (1,763) |
Other comprehensive income (loss), net of tax | 1,236 | 53 |
Ending balance | $ 1,468 | $ 232 | $ 179

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