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Income Taxes - Narrative (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Taxes [Line Items]      
Increase (decrease) in deferred tax asset valuation allowance $ 16,700 $ 9,400 $ 9,600
Interest and penalties recognize in income tax expense 42 42 61
Interest and penalties recognized on the balance sheet 600 500 500
Unrecognized tax benefits that would impact effective tax rate 300 300 $ 300
India      
Income Taxes [Line Items]      
Deferred tax liability from undistributed foreign earnings $ 16 $ 16