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Derivatives - Narrative (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Net gain (loss) on foreign currency exchange contracts | $ (3,238) | $ (1,309) | $ 2,903
Not designated as hedging instrument | Foreign currency exchange contracts | Other income (expense), net |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Net gain (loss) on foreign currency exchange contracts | $ (3,200) | $ (1,300) | $ 2,900

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