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Accumulated Other Comprehensive Loss (Details) - USD ($)
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Accumulated Other Comprehensive Income [Roll Forward]        
Beginning balance $ 8,792,000 $ 12,822,000 $ 8,883,000 $ 8,851,000
Ending balance 5,645,000 11,069,000 5,645,000 11,069,000
Accumulated other comprehensive income (loss) 0 0 0 0
Accumulated Other Comprehensive Loss        
Accumulated Other Comprehensive Income [Roll Forward]        
Beginning balance (4,861,000) (4,825,000) (4,607,000) (4,905,000)
Ending balance (4,951,000) (4,690,000) (4,951,000) (4,690,000)
Foreign Currency Translation        
Accumulated Other Comprehensive Income [Roll Forward]        
Other comprehensive income (loss) due to foreign currency translation, net of tax $ (90,000) $ 135,000 $ (344,000) $ 215,000