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Derivatives - Foreign Currency Exchange Contracts (Details) - Not designated as hedging instrument $ in Thousands | 12 Months Ended
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Dec. 31, 2023 USD ($) $ / ¥ $ / € | Dec. 31, 2022 USD ($) $ / ¥ $ / €
USD/Euro |  |
Derivative [Line Items] |  |
Notional value | $ 22,000 | $ 26,000
Forward Rate | $ / ¥ | 1.1009 | 1.0529
Unrealized gain (loss) recorded at balance sheet date | $ (65) | $ (428)
USD/Chinese Yuan Renminbi |  |
Derivative [Line Items] |  |
Notional value | $ 20,000 | $ 31,000
Forward Rate | $ / € | 7.1181 | 7.0358
Unrealized gain (loss) recorded at balance sheet date | $ (18) | $ 528

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