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Income Taxes - Reconciliation of the unrecognized tax benefits (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Mar. 31, 2024
Income Taxes      
Beginning gross UTBs $ 3,203,000 $ 3,106,000  
Additions for tax positions taken in a prior year   (35,000)  
Additions for tax provision taken in the current year 319,000 1,093,000  
Adjustments for tax positions for changes in currency translation 95,000 (223,000)  
Reductions for tax positions taken in the prior year 1,051,000 (270,000)  
Reductions for tax positions taken in the prior year due to statutes lapsing (1,585,000) (468,000)  
Ending gross UTBs 3,083,000 3,203,000  
UTBs offset by deferred tax assets and/or valuation allowance (1,419,000) (1,714,000)  
Net UTBs 1,664,000 1,489,000  
Amount of unrecognized tax benefits that, if recognized, would affect effective tax rate 1,700,000   $ 1,700,000
Accrued interest and penalties $ 522,000 $ 449,000