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Goodwill and Intangible Assets - Intangible Assets, Excluding Goodwill (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Finite Lived Intangible Assets [Line Items]    
Intangible assets subject to amortization, Net Carrying Value $ 7,795  
Intangible assets, Cost 18,991 $ 18,894
Intangible assets, Accumulated Amortization (11,080) (9,097)
Intangible assets, Net Carrying Value 7,911 9,797
Trademarks    
Finite Lived Intangible Assets [Line Items]    
Intangible assets not subject to amortization, Cost 116 114
Intangible assets not subject to amortization, Net Carrying Value 116 114
Patents    
Finite Lived Intangible Assets [Line Items]    
Intangible assets subject to amortization, Cost 1,975 1,880
Intangible assets subject to amortization, Accumulated Amortization (752) (647)
Intangible assets subject to amortization, Net Carrying Value 1,223 1,233
Purchased Technology    
Finite Lived Intangible Assets [Line Items]    
Intangible assets subject to amortization, Cost 16,900 16,900
Intangible assets subject to amortization, Accumulated Amortization (10,328) (8,450)
Intangible assets subject to amortization, Net Carrying Value $ 6,572 $ 8,450