v3.24.0.1
Income Taxes - Additional Information (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Contingency [Line Items]      
Provision for (benefit from) income taxes $ 4,214 $ 1,988 $ 2,158
Net Operating Loss Carry Forwards Ownership Percentage 5.00%    
Interest limitation carryforward $ 0 650  
Net Operating Loss Carry Forwards Ownership Percentage Increase 50.00%    
Net Operating Loss Carry Forwards Ownership Maturity 3 years    
Valuation Allowance, Deferred Tax Asset, Increase (Decrease), Amount $ 2,800 13,800 6,400
Primarily due of valuation allowance to an increase   12,700  
Primarily due to an increase of capitalized research and development costs 12,100    
Potential tax benefits 500 600 600
(Increase Decrease) in deferred taxes 300    
NOLs expire 200 1,600  
Undistributed earnings of foreign subsidiaries 31,700    
Unrecognized Tax Benefits, Period Increase (Decrease) 100    
Unrecognized Tax Benefits, Income Tax Penalties Accrued 800 800 900
Income Tax Examination, Penalties and Interest Accrued, Total 0 0 200
Unrecognized Tax Benefits, Income Tax Penalties and Interest Accrued 200 200 200
Federal NOL Carryforwards      
Income Tax Contingency [Line Items]      
Operating Loss Carryforwards 86,300    
NOL carryforwards begin to expire $ 17,600    
Date Expiring Net Operating Loss Carry Forwards 2032    
Additional Net Operating Loss Carry Forwards $ 68,700    
State NOL Carryforwards      
Income Tax Contingency [Line Items]      
Operating Loss Carryforwards 101,400    
NOL carryforwards begin to expire $ 99,300    
Date Expiring Net Operating Loss Carry Forwards 2024    
Additional Net Operating Loss Carry Forwards $ 2,200    
Foreign NOL Carryforwards      
Income Tax Contingency [Line Items]      
Net Operating Loss Carry Forwards 8,700    
Foreign Tax Authority [Member]      
Income Tax Contingency [Line Items]      
Valuation Allowance, Deferred Tax Asset, Increase (Decrease), Amount   1,300  
Domestic Tax Authority [Member]      
Income Tax Contingency [Line Items]      
Primarily due of valuation allowance to an dicrease   200  
Provision For Income Tax      
Income Tax Contingency [Line Items]      
Provision for (benefit from) income taxes $ 4,200 $ 2,000 $ 2,200