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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