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Income Taxes - Additional Information (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Taxes [Line Items]      
Valuation allowance $ 25,772 $ 23,571  
Unrecognized tax benefits, impact on effective tax rate 11,100 12,300 $ 11,300
Accrued interest and penalties 1,000 600 400
Increase (decrease) in income tax expense 400 $ 200 $ (100)
Foreign Countries      
Income Taxes [Line Items]      
Valuation allowance 24,100    
Foreign Countries      
Income Taxes [Line Items]      
Net operating loss carryforwards, foreign 26,500    
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 $ 1,600