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Income Taxes - Effective Income Tax (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
U.S. statutory income tax provision (benefit) $ 3,323 $ (853) $ (15,400)
Effect of foreign income taxed at different rates (425) 1,895 (483)
Foreign income subject to U.S. taxes 931 1,876 182
Utilization of U.S. foreign tax credits (1,460) (291) 0
State income taxes, net of federal benefits 962 89 (1,157)
Changes in valuation allowances against tax assets (2,010) 19 2,410
Non-deductible compensation 1,390 627 814
Other non-deductible expenses, net 222 2,118 2,336
Release of foreign currency translation adjustments on liquidation of an international operation 0 0 1,957
Total income tax provision (benefit) $ 2,933 $ 5,480 $ (9,341)