Income Taxes (Details 5) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance at the beginning of the period	$ 2,792	$ 3,127	$ 2,896
Additions for tax positions related to the current year (includes currency translation adjustment)	439	189	316
Additions for tax positions related to prior years (includes currency translation adjustment)			500
Statutes of limitations expirations	(1,106)	(524)	(585)
Balance at the end of the period	2,125	2,792	3,127
Reconciliation of Deferred Income Tax Benefits [Roll Forward]
Balance at beginning of period	(21)	(22)	(22)
Additions for tax positions related to the current year (includes currency translation adjustment)	(1)	(1)	(1)
Statutes of limitation expirations	5	2	1
Balance at the end of the period	(17)	(21)	(22)
Reconciliation of Net Unrecognized Tax Benefits [Roll Forward]
Balance at the beginning of the period	2,771	3,105	2,874
Additions for tax positions related to the current year (includes currency translation adjustment)	438	188	315
Additions for tax positions related to prior years (includes currency translation adjustment)			500
Statutes of limitation expirations	(1,101)	(522)	(584)
Balance at the end of the period	$ 2,108	$ 2,771	$ 3,105