Revenue - Schedule of Allowance for Doubtful Accounts Receivable (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Accounts Receivable, Allowance for Credit Loss [Roll Forward]
Balance, beginning of period	$ (3,779)	$ (2,861)	$ (3,912)
Provision (increase) decrease	(526)	(1,496)	1,125
Amounts written off, net of recoveries	43	389	(82)
Foreign currency translation adjustments and other	(33)	189	8
Balance, end of period	$ (4,295)	$ (3,779)	$ (2,861)