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Income Taxes - Income Tax (Benefit) Expense (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
Federal deferred $ (655) $ (8,176) $ (12,033)
State deferred 210 (2,099) (2,908)
Federal current 10 0 0
State current (3) 0 329
Foreign current 656 586 627
Valuation allowances 445 10,275 14,941
Total income tax expense $ 663 $ 586 $ 956