Income Taxes Income Tax Expense Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Expense (Benefit), Continuing Operations, Income Tax Reconciliation
Effective Income Tax Rate Reconciliation, at Federal Statutory Income Tax Rate, Percent	21.00%	21.00%	21.00%
Income Tax Reconciliation, Income Tax Expense (Benefit), at Federal Statutory Income Tax Rate	$ 10,610	$ 18,380	$ 14,550
Income Tax Reconciliation, State and Local Income Taxes	710	2,790	960
Income Tax Reconciliation, Foreign Income Tax Rate Differential	2,980	1,150	(1,690)
Income Tax Reconciliation, Tax Contingencies	(130)	(600)	(550)
Effective Income Tax Rate Reconciliation, Tax Credit, Research, Amount	(1,570)	(1,260)	(5,060)
Income Tax Reconciliation, Change in Deferred Tax Assets Valuation Allowance	(2,700)	340	2,100
Effective Income Tax Rate Reconciliation, Nondeductible Expense, Share-based Payment Arrangement, Amount	560	990	2,280
Income Tax Reconciliation, Other Adjustments	(230)	(290)	(790)
Income Tax Expense (Benefit), Continuing Operations	$ 10,230	$ 21,500	$ 11,800