Income Taxes - Components of Income Tax Expense (Benefit) (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Current:
Federal	$ (515)	$ (1,329)	$ 211
State	179	162	114
Foreign	2,269	3,860	6,372
Current income tax expense	1,933	2,693	6,697
Deferred:
Federal	0	2	15,464
State	10	(32)	6,418
Foreign	572	2,442	2,824
Deferred income tax expense	582	2,412	24,706
Income tax expense (benefit)	$ 2,515	$ 5,105	$ 31,403