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Foreign currency exchange gain (loss), net (Details) - USD ($)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Foreign currency exchange gain (loss), net      
Foreign currency exchange loss, net $ 1,400,000    
Foreign currency exchange gain, net   $ 2,900,000 $ 2,000,000.0