Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating losses	$ 36,484	$ 35,430
Foreign tax credits	10,373	8,836
Accruals not currently deductible	4,873	2,989
Unrealized foreign exchange losses, net	5,157	5,353
Research and development credits	5,690	5,181
Stock-based compensation	1,723	1,359
Capitalized inventory costs	508	1,821
Capitalized research and development expenditures	7,110	4,342
Other	5,372	6,551
Total deferred tax assets	77,290	71,862
Valuation allowance	(49,197)	(47,280)
Total deferred tax assets, net of allowances	28,093	24,582
Deferred tax liabilities:
Accelerated depreciation and amortization	(27,071)	(24,099)
Tax on unremitted earnings	(6,208)	(5,656)
Other	(493)	(673)
Total deferred tax liabilities	(33,772)	(30,428)
Net deferred tax liabilities	(5,679)	(5,846)
Noncurrent deferred tax assets	2,628	2,275
Noncurrent deferred tax liabilities	$ (8,307)	$ (8,121)