Income Taxes - Schedule of Effective Income Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Effective Income Tax Rate Reconciliation, Amount [Abstract]
Statutory U.S. federal income tax (benefit) provision	$ (403)	$ (2,246)	$ 2,612
State income taxes, net of federal tax benefit	(136)	495	942
Tax credits and incentives	(4,886)	(3,906)	(2,865)
Foreign tax rate differential	706	910	730
Impact of change in enacted tax law	5	300	227
Change in valuation allowance	1,817	5,248	5,070
U.S. tax on foreign earnings	4,815	1,376	(347)
Tax impact of unconsolidated subsidiaries	0	395	1,828
Unremitted earnings on foreign subsidiaries	0	(898)	835
Non-deductible expenses	1,338	657	740
Compensation and benefits	306	774	358
Other	(301)	255	(1,100)
Total income tax provision	$ 3,261	$ 3,360	$ 9,030

Effective Income Tax Rate Reconciliation, Foreign Earnings At Federal Statutory Income Tax Rate, Amount

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Amount of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to increase (decrease) in the valuation allowance for deferred tax assets.

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Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations, attributable to increase (decrease) in the income tax rates.

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Amount of reported income tax expense (benefit) in excess of (less than) expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operation, attributable to nondeductible expense for award under share-based payment arrangement. Includes, but is not limited to, expense determined to be nondeductible upon grant or after for award under share-based payment arrangement.

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Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to tax credits. Including, but not limited to, research credit, foreign tax credit, investment tax credit, and other tax credits.

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