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Accumulated Other Comprehensive Loss
12 Months Ended
Dec. 31, 2023
Equity [Abstract]  
Accumulated Other Comprehensive Loss Accumulated Other Comprehensive Loss
The components of accumulated other comprehensive loss, which relate to foreign currency translation, were as follows (in thousands):
Accumulated Other Comprehensive Loss
Balance at December 31, 2020
$(957)
Other comprehensive loss(419)
Balance at December 31, 2021
(1,376)
Other comprehensive loss(1,775)
Balance at December 31, 2022
(3,151)
Other comprehensive income
1,075 
Balance at December 31, 2023
$(2,076)