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Income Taxes - Consolidated Pre-tax Income (Loss) (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
United States $ 3,793 $ (22,489) $ (56,665)
Foreign 12,031 18,429 (16,669)
Income (loss) before income taxes $ 15,824 $ (4,060) $ (73,334)