Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Accumulated other comprehensive loss
Foreign currency translation loss	$ (90,678)	$ (85,863)
Changes in defined benefit plan liabilities	(4,208)	(5,774)
Unrealized gains on investments	132	0
Total accumulated other comprehensive loss	$ (94,754)	$ (91,637)