Income Taxes - Components of loss from continuing operations before income taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Pre tax book income (loss)
Domestic	$ (68,000)	$ (95,425)	$ (80,232)
Foreign	(6,735)	(6,681)	2,774
Total pre tax book income (loss)	$ (74,735)	$ (102,106)	$ (77,458)