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Income Taxes - Narrative (Details) - USD ($)
 12 Months Ended
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