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Income Taxes (Details Textual) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Income Taxes    
Deferred tax assets $ 13,833 $ 13,505
Unrecognized tax benefits impacting effective tax rate 1,034 976
Unrecognized tax benefits, interest and penalties 111 $ 44
Domestic tax authority | Internal revenue service (IRS)    
Income Taxes    
Net operating loss carryforwards 5,800  
State and local jurisdiction    
Income Taxes    
Net operating loss carryforwards 6,300  
Foreign tax authority | Tax authority, spain    
Income Taxes    
Net operating loss carryforwards $ 12,700