Income Taxes - Reconciliation of Tax Provision at Statutory U.S. Rate to Provision for Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Expense (Benefit), Continuing Operations, Income Tax Reconciliation [Abstract]
Tax provision at statutory U.S. rate	$ 2,392	$ 3,377	$ 9,220
Increase (decrease) in tax provision resulting from:
Distribution of previously taxed foreign earnings and profits	(16,776)	0	0
Federal research and development credits	(715)	(1,391)	(2,119)
Foreign permanent benefit	(1,620)	(1,137)	(2,842)
Foreign tax rate differential	15,133	(2,647)	(1,595)
Foreign undistributed earnings, net of credits	6,486	6,902	3,319
Liquidation of Cayman subsidiary	0	745	0
Non-deductible items	601	1,198	1,637
Non-territorial income	(2,323)	(2,993)	(2,493)
Provision to return	(435)	(533)	(343)
Sale of Argentina subsidiary	0	2,084	0
Sale of intangible asset	(3,385)	0	0
State and local taxes, net	(2,408)	(1,435)	(1,932)
Stock-based compensation	693	(616)	(266)
Tax rate change	(640)	0	(1,527)
Uncertain tax positions	0	0	(1,565)
Valuation allowance	12,058	4,632	3,109
Withholding tax	2,188	2,333	2,320
Other	(263)	260	410
Total provision for income taxes	$ 10,986	$ 10,779	$ 5,333