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Income Taxes - Narrative (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Operating Loss Carryforwards [Line Items] |  |  |
Unremitted earnings of foreign subsidiaries | $ 27,211,000 |  |
Unrecognized tax benefits that would impact effective tax rate | 2,545,000 | $ 2,545,000 |
Expense related to interest and penalties | 0 | $ 0 | $ 0
State and Local Jurisdiction |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Net operating loss carry forwards | 39,638,000 |  |
General business and foreign tax credit carry forwards | 1,054,000 |  |
Foreign Tax Authority |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Net operating loss carry forwards | 77,027,000 |  |
General business and foreign tax credit carry forwards | 714,000 |  |
Domestic Tax Authority |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
General business and foreign tax credit carry forwards | $ 20,422,000 |  |

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- Definition The sum of the amounts of estimated penalties and interest recognized in the period arising from income tax examinations. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 15 -Subparagraph (c) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-15 + Details
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- Definition Amount of operating loss carryforward, before tax effects, available to reduce future taxable income under enacted tax laws. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 3 -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-3 + Details
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- Definition Amount of undistributed earnings of foreign subsidiaries intended to be permanently reinvested outside the country of domicile. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 30 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (b) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482603/740-30-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 25 -Paragraph 3 -Subparagraph (a)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482620/740-10-25-3 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (b) -SubTopic 740 -Topic 942 -Publisher FASB -URI https://asc.fasb.org//1943274/2147481141/942-740-50-1 Reference 4: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (b) -SubTopic 740 -Topic 944 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480135/944-740-50-1 + Details
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