Annual report pursuant to Section 13 and 15(d)

Summary of Significant Accounting Policies - Summary of Components of Accumulated Other Comprehensive Income (Loss) (Details)

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Summary of Significant Accounting Policies - Summary of Components of Accumulated Other Comprehensive Income (Loss) (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance $ 297,406 $ 370,227 $ 349,623
Other comprehensive income (loss) 1,468 (1,712) 994
Ending Balance 204,812 297,406 370,227
Foreign Currency Translation Adjustments      
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance (269) 328  
Other comprehensive income (loss) 1,358 (597)  
Ending Balance 1,089 (269) 328
Unrealized Gains on Marketable Securities      
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance 26 1  
Other comprehensive income (loss) 110 25  
Ending Balance 136 26 1
Unrealized Gains (Losses) on Cash Flow Hedges      
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance   1,140  
Other comprehensive income (loss)   (1,140)  
Ending Balance     1,140
Accumulated other comprehensive income (loss)      
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance (243) 1,469 475
Other comprehensive income (loss) 1,468 (1,712) 994
Ending Balance $ 1,225 $ (243) $ 1,469