Schedule of reconciliation of the change in unrecognized tax benefits - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Unrecognized Tax Benefits, Decrease Resulting from Prior Period Tax Positions	$ (1,840)	$ (1,850)
Unrecognized Tax Benefits, Decrease Resulting from Settlements with Taxing Authorities	(289)	(477)
Unrecognized Tax Benefits, Reduction Resulting from Lapse of Applicable Statute of Limitations	(286)	(275)
Unrecognized Tax Benefits	9	2,136	$ 1,038
Unrecognized Tax Benefits, Increase Resulting from Current Period Tax Positions	$ 288	$ 0