Income Taxes - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Operating Loss Carryforwards
Deferred tax asset valuation allowance	$ 40,125	$ 40,601
Operating loss carryforward, valuation allowance	3,761
Unremitted earnings of foreign subsidiary	50	625
Foreign earnings repatriated	1,000
Unrecognized tax benefit that would impact effective tax rate	307
Accrued interest and penalties	332	356
Domestic Tax Authority
Operating Loss Carryforwards
Operating loss carryforwards	103,108
Research tax credit carryforward, amount	1,678
State and local
Operating Loss Carryforwards
Operating loss carryforwards	10,137	$ 9,574
Foreign tax authority | Secretariat of the Federal Revenue Bureau of Brazil
Operating Loss Carryforwards
Operating loss carryforwards	$ 18,202