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Income Taxes - Additional Information (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Income Taxes [Line Items]      
Amount expected to be utilized of tax credit carry forwards expiring in the and beyond the stated year $ 200    
Valuation allowance 23,571 $ 24,198  
Unrecognized tax benefits, impact on effective tax rate 12,300 11,300 $ 9,800
Accrued interest and penalties 600 400 500
Increase (decrease) in income tax expense 200 $ (100) $ 100
Foreign Countries      
Income Taxes [Line Items]      
Valuation allowance 22,200    
Foreign Countries      
Income Taxes [Line Items]      
Net operating loss carryforwards, foreign 23,100    
California Enterprise Zone      
Income Taxes [Line Items]      
California enterprise zone tax credits 1,600    
California Enterprise Zone | California Enterprise Zone      
Income Taxes [Line Items]      
Valuation allowance $ 1,400