Income Taxes - Unrecognized tax benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Taxes
Recognized tax benefit	$ 2,900	$ 800
Unrecognized tax benefits	2,918	2,163
Accrued interest and penalties on unrecognized tax benefits	3,900	2,000
Interest and penalties recorded on unrecognized tax benefits	1,900	400
Reconciliation of total amounts of unrecognized tax benefits
Balance at beginning of the period	2,163	2,077
Gross increases - tax positions in current period	88	106
Lapse of statute of limitations	(82)
Balance at end of the period	2,918	2,163
Deferred taxes provided for withholding or other taxes for repatriation of foreign earnings	0
Undistributed earnings from foreign subsidiaries	145,000
Foreign withholding taxes on the undistributed earnings	9,100	7,900
Undistributed foreign earnings	1,200	800
Prior tax period 1
Reconciliation of total amounts of unrecognized tax benefits
Gross increases - tax positions in prior period	2,230
Prior tax period 2
Reconciliation of total amounts of unrecognized tax benefits
Gross decreases - tax positions in prior period	$ (1,481)	$ (20)