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Restructuring Charges - Schedule of Restructuring Reserve by Type of Cost (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Restructuring Reserve [Roll Forward]      
Restructuring charges $ 0 $ 1,657 $ 0
One-time Termination Benefits [Member]      
Restructuring Reserve [Roll Forward]      
Restructuring charges   1,584  
Contract Termination [Member]      
Restructuring Reserve [Roll Forward]      
Restructuring charges   73  
Accrued Liabilities [Member] | December 2022      
Restructuring Reserve [Roll Forward]      
Restructuring Reserve, Beginning Balance 1,039 0  
Restructuring charges   (1,657)  
Cash payments (1,048) (646)  
Foreign exchange rate changes 9 28  
Restructuring Reserve, Ending Balance 0 1,039 0
Accrued Liabilities [Member] | One-time Termination Benefits [Member] | December 2022      
Restructuring Reserve [Roll Forward]      
Restructuring Reserve, Beginning Balance 964 0  
Restructuring charges   (1,584)  
Cash payments (973) (646)  
Foreign exchange rate changes 9 26  
Restructuring Reserve, Ending Balance 0 964 0
Accrued Liabilities [Member] | Contract Termination [Member] | December 2022      
Restructuring Reserve [Roll Forward]      
Restructuring Reserve, Beginning Balance 75 0  
Restructuring charges   (73)  
Cash payments (75) 0  
Foreign exchange rate changes 0 2  
Restructuring Reserve, Ending Balance $ 0 $ 75 $ 0