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Consolidated Statements of Comprehensive Loss (Parenthetical) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Statement of Comprehensive Income [Abstract] |  |  |
Fair value adjustment, tax | $ (30) | $ (190) | $ (246)
Net (loss) income arising from retirement benefit obligations, tax | 31 | (359) | (64)
Amortization of loss included in net income, tax | $ (16) | $ (39) | $ (45)

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