Employee Retirement Plans - Change in Benefit Obligations and Funded Status (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Change in plan assets:
Employer contributions	$ 1,400	$ 600	$ 700
U.S.
Change in plan assets:
Fair value of plan assets at beginning of year	5,502
Fair value of plan assets at end of year	6,538	5,502
U.S. | Pension Plan
Defined Benefit Plan Disclosure [Line Items]
Accumulated benefit obligations at year end	9,222	9,790	12,578
Change in projected benefit obligation:
Projected benefit obligation at beginning of year	9,790	12,578	13,085
Interest cost	409	254	224
Plan settlement	(245)	(1,369)	(972)
Actuarial (gain)/loss	(416)	(1,361)	527
Benefits paid	(316)	(312)	(286)
Projected benefit obligation at end of year	9,222	9,790	12,578
Change in plan assets:
Fair value of plan assets at beginning of year	5,516	8,020	8,688
Actual return on plan assets	598	(1,189)	189
Employer contributions	1,118	367	401
Plan settlement	(245)	(1,369)	(972)
Benefits paid	(316)	(313)	(286)
Fair value of plan assets at end of year	6,671	5,516	8,020
Funded status at end of year:
Underfunded status of the plan	2,551	4,274	4,558
Amounts recognized on the consolidated balance sheets consist of:
Non-current liabilities	2,551	4,274	4,558
Recognized liability	2,551	4,274	4,558
Non-U.S.
Change in plan assets:
Fair value of plan assets at beginning of year	3,232
Fair value of plan assets at end of year	(1,931)	3,232
Non-U.S. | Pension Plan
Defined Benefit Plan Disclosure [Line Items]
Accumulated benefit obligations at year end	8,099	8,248	10,522
Change in projected benefit obligation:
Projected benefit obligation at beginning of year	8,532	10,817	13,039
Interest cost	239	83	56
Actuarial (gain)/loss	86	(831)	(1,372)
Benefits paid	(972)	(1,060)	(294)
Projected benefit obligation at end of year	8,260	8,532	10,817
Foreign currency exchange rate changes and other	136	(736)	(966)
Change in plan assets:
Fair value of plan assets at beginning of year	3,232	3,142	2,816
Actual return on plan assets	(78)	(80)	61
Employer contributions	263	265	302
Benefits paid	(26)	(37)	(78)
Foreign currency exchange rate changes and other	(101)	(58)	41
Fair value of plan assets at end of year	3,290	3,232	3,142
Funded status at end of year:
Underfunded status of the plan	4,970	5,300	7,675
Amounts recognized on the consolidated balance sheets consist of:
Non-current liabilities	6,367	5,300	7,675
Recognized liability	$ 6,367	$ 5,300	$ 7,675