Income Taxes - Income Attributable to Domestic and Foreign Operations (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income (loss) from continuing operations before income taxes
Domestic	$ (33,383)	$ 47,368	$ 23,561
Foreign	5,045	3,617	2,119
Income (loss) before income taxes	$ (28,338)	$ 50,985	$ 25,680