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Derivatives - Narrative (Details) - USD ($)
$ in Thousands
 12 Months Ended
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