Other Comprehensive Income (Loss) - Other comprehensive income (loss) (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Other comprehensive income (loss), before tax amount
Other comprehensive income (loss), before tax amount	$ (3,976)	$ 1,566	$ (918)
Other comprehensive income (loss), tax (expense) benefit
Other comprehensive income (loss), tax (expense) benefit	666	(430)	81
Other comprehensive income (loss):
Total other comprehensive income (loss), net of tax	(3,310)	1,136	(837)
Foreign Currency Translation Adjustment
Other comprehensive income (loss), before tax amount
Other comprehensive income (loss), before reclassifications, before tax	(4,160)	1,787	(827)
Other comprehensive income (loss), tax (expense) benefit
Other comprehensive income (loss), before reclassifications, tax (expense) benefit	710	(482)	61
Other comprehensive income (loss):
Other comprehensive income (loss), before reclassifications, net of tax	(3,450)	1,305	(766)
Unrealized/Recognized Gains (Losses)
Other comprehensive income (loss), before tax amount
Other comprehensive income (loss), before reclassifications, before tax	191	(208)	(29)
Amounts reclassified from accumulated other comprehensive income (loss), before tax	(7)	(13)	(62)
Other comprehensive income (loss), tax (expense) benefit
Other comprehensive income (loss), before reclassifications, tax (expense) benefit	(46)	49	7
Amounts reclassified from accumulated other comprehensive income (loss), tax (expense) benefit	2	3	13
Other comprehensive income (loss):
Other comprehensive income (loss), before reclassifications, net of tax	(145)	159	(22)
Amounts reclassified from accumulated other comprehensive income (loss), net of tax	$ (5)	$ (10)	$ (49)