Income Taxes - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Contingency [Line Items]
Provision for income taxes	$ 10,732,000	$ 5,585,000	$ 6,812,000
Effective income tax rate reconciliation (in percent)	38.40%	(5.70%)	17.00%
Effective income tax rate, increase (decrease) during period (in percent)	(44.10%)
Deferred tax assets related to undistributed earnings	$ 0
Undistributed earnings	3,400,000
Operating loss carryforwards	16,200,000
Deferred tax assets, valuation allowance	17,667,000	$ 17,562,000
Unrecognized tax benefits	$ 3,616,000	$ 3,236,000	$ 4,364,000
GERMANY
Income Tax Contingency [Line Items]
Operating loss carryforwards, percentage of taxable income (in percent)	60.00%
NETHERLANDS
Income Tax Contingency [Line Items]
Operating loss carryforwards, percentage of taxable income (in percent)	50.00%