Income Taxes - Income Tax Expense (Benefit) from Continuing Operations (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Current
Federal	$ 11,296	$ 11,583	$ 4,901
Foreign	2,617	2,549	2,389
State and local	2,237	1,739	1,439
Total current provision	16,150	15,871	8,729
Deferred
Federal	617	1,675	2,534
State and local	62	230	345
Foreign	360	167	(53)
Total deferred provision	1,039	2,072	2,826
Provision for income taxes	$ 17,189	$ 17,943	$ 11,555