Income Taxes - Schedule of components of income tax expense (benefit) (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Current:
Federal	$ 34	$ 407	$ (727)
State	216	306	513
Foreign	3,793	2,189	1,735
Total current income tax expense	4,043	2,902	1,521
Deferred:
Federal	(4,137)	(257)	(2,952)
State	(633)	(166)	(80)
Foreign	(1,046)	(1,364)	(364)
Total deferred tax benefit	(5,816)	(1,787)	(3,396)
Total income tax (benefit) expense	$ (1,773)	$ 1,115	$ (1,875)