Income Taxes, Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Reconciliation of change in liability for unrecognized tax benefits [Roll Forward]
Balance at beginning of year	$ 3,939	$ 3,761
Increases for tax positions taken in the current year	876	800
Decreases related to settlements with tax authorities	(175)	(209)
Decreases as a result of lapse of the applicable statutes of limitations	(610)	(338)
Foreign currency exchange rate changes	221	(75)
Balance at the end of year	4,251	3,939
Income tax uncertainties [Abstract]
Unrecognized tax benefits that would impact the effective tax rate, if recognized	4,300
Income tax interest and penalties accrued	400	$ 400
Expected decrease in liability for unrecognized tax benefits in the next fiscal year	900
Unrecognized tax benefits that would impact the effective tax rate in the next fiscal year	$ 800