Income Taxes - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]
Increase (Decrease) in valuation allowance	$ 2,700	$ 573	$ 5,600
U.S. federal net operating loss carryforwards	29,700
Foreign operating loss carryforwards	22,200
Foreign withholding tax	320	288	228
Tax benefit from restructuring of foreign entities	4,300
Unrecognized tax benefits including interest and penalties	1,900	2,000
Unrecognized tax benefits that would impact effective rate	1,900	2,000
Unrecognized tax benefits reduction to non-current deferred income tax assets	0	1,000
Accrued interest and penalties	336	322
Increase (decrease) of uncertain tax benefits related to certain liabilities for unrecognized tax benefits	14	$ 46	$ (90)
Maximum
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]
Estimated decrease in unrecognized tax benefit in next twelve months	109
Domestic
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]
Operating loss carryforward, expiring	29,600
Operating loss carryforward, no expiration	$ 97
Period to utilize the net operating loss carryforwards	13 years
NOL carryforward used in period	$ 15,900
Foreign
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]
Operating loss carryforward, expiring	1,100
Operating loss carryforward, no expiration	$ 21,100