Income Taxes - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]
Increase (Decrease) in valuation allowance	$ 213	$ 2,700	$ 573
Foreign withholding tax	434	320	288
Tax benefit from restructuring of foreign entities		4,300
Unrecognized tax benefits including interest and penalties	1,900	1,900
Unrecognized tax benefits that would impact effective rate	1,900	1,900
Unrecognized tax benefits reduction to non-current deferred income tax assets	0	0
Accrued interest and penalties	290	336
Increase (decrease) of uncertain tax benefits related to certain liabilities for unrecognized tax benefits	(46)	$ 14	$ 46
Estimated increase in unrecognized tax liability in next twelve months	7
Domestic
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]
Net operating loss carryforwards	24,700
Operating loss carryforward, expiring	$ 24,700
Period to utilize the net operating loss carryforwards	12 years
NOL carryforward used in period	$ 5,000
Foreign
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]
Operating loss carryforward, expiring	2,000
Operating loss carryforward, no expiration	20,600
Foreign operating loss carryforwards	$ 22,600