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The fair value hierarchy has three levels based on the reliability of the inputs used to determine fair value. (Details) - Fair Value, Recurring [Member] - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Assets:    
Short-term investments $ 94,304 $ 150,833
Interest rate swaps 3,909 6,758
Foreign currency forward exchange contracts not accounted for using hedge accounting 359  
Foreign currency forward exchange contracts accounted for using hedge accounting 1,533 1,189
 Total Assets 100,105 158,780
Liabilities:    
Foreign currency forward exchange contracts not accounted for using hedge accounting   68
Total liabilities    68
Fair Value, Inputs, Level 1 [Member]    
Assets:    
Short-term investments 12,868 19,861
Interest rate swaps
Foreign currency forward exchange contracts not accounted for using hedge accounting  
Foreign currency forward exchange contracts accounted for using hedge accounting
 Total Assets 12,868 19,861
Liabilities:    
Foreign currency forward exchange contracts not accounted for using hedge accounting  
Total liabilities   
Fair Value, Inputs, Level 2 [Member]    
Assets:    
Short-term investments 80,614 130,174
Interest rate swaps 3,909 6,758
Foreign currency forward exchange contracts not accounted for using hedge accounting 359  
Foreign currency forward exchange contracts accounted for using hedge accounting 1,533 1,189
 Total Assets 86,415 138,121
Liabilities:    
Foreign currency forward exchange contracts not accounted for using hedge accounting   68
Total liabilities    68
Fair Value, Inputs, Level 3 [Member]    
Assets:    
Short-term investments 822 798
Interest rate swaps
Foreign currency forward exchange contracts not accounted for using hedge accounting  
Foreign currency forward exchange contracts accounted for using hedge accounting
 Total Assets $ 822 798
Liabilities:    
Foreign currency forward exchange contracts not accounted for using hedge accounting  
Total liabilities