Other Comprehensive Income (Loss) - Other comprehensive income (loss) (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Other comprehensive income (loss), before tax amount
Other comprehensive income (loss), before tax amount	$ 393	$ (3,976)	$ 1,566
Other comprehensive income (loss), tax (expense) benefit
Other comprehensive income (loss), tax (expense) benefit	(40)	666	(430)
Other comprehensive income (loss):
Total other comprehensive income (loss), net of tax	353	(3,310)	1,136
Foreign Currency Translation Adjustment
Other comprehensive income (loss), before tax amount
Other comprehensive income (loss), before reclassifications, before tax	356	(4,160)	1,787
Other comprehensive income (loss), tax (expense) benefit
Other comprehensive income (loss), before reclassifications, tax (expense) benefit	(31)	710	(482)
Other comprehensive income (loss):
Other comprehensive income (loss), before reclassifications, net of tax	325	(3,450)	1,305
Unrealized/Recognized Gains (Losses)
Other comprehensive income (loss), before tax amount
Other comprehensive income (loss), before reclassifications, before tax	(267)	191	(208)
Amounts reclassified from accumulated other comprehensive income (loss), before tax	304	(7)	(13)
Other comprehensive income (loss), tax (expense) benefit
Other comprehensive income (loss), before reclassifications, tax (expense) benefit	65	(46)	49
Amounts reclassified from accumulated other comprehensive income (loss), tax (expense) benefit	(74)	2	3
Other comprehensive income (loss):
Other comprehensive income (loss), before reclassifications, net of tax	202	(145)	(159)
Amounts reclassified from accumulated other comprehensive income (loss), net of tax	$ 230	$ (5)	$ (10)