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Accumulated Other Comprehensive Loss (Tables)
 3 Months Ended
Mar. 31, 2024
Equity [Abstract]  
Schedule of Changes in Accumulated Other Comprehensive Loss
The following table summarizes the changes in accumulated other comprehensive loss (in thousands):
Three Months Ended
March 31,
 20242023
Beginning balance$(4,607)$(4,905)
Other comprehensive income (loss) due to foreign currency translation, net of tax(254)80 
Ending balance$(4,861)$(4,825)