Annual report pursuant to Section 13 and 15(d)

Employee Retirement Plans - Change in Projected Benefit Obligations, Fair Value of Plan Assets, and Funded Status of Plan (Details)

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Employee Retirement Plans - Change in Projected Benefit Obligations, Fair Value of Plan Assets, and Funded Status of Plan (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Changes in projected benefit obligation:    
Projected benefit obligation, beginning of period $ 9,733 $ 12,022
Service cost $ 289 $ 442
Defined Benefit Plan, Net Periodic Benefit Cost (Credit), Interest Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] Research and development Research and development
Interest cost $ 79 $ 66
Actuarial (gain) loss (2,817) (1,794)
Benefits paid (124) (157)
Currency exchange rate changes (587) (845)
Projected benefit obligation, end of period 6,573 9,733
Changes in fair value of plan assets:    
Fair value of plan assets, beginning of period 5,198 5,634
Actual return on plan assets (24) 2
Currency exchange rate changes (279) (439)
Fair value of plan assets, end of period 4,895 5,198
Net unfunded status 1,678 4,536
Amounts recognized in the Consolidated Balance Sheets    
Other long-term liabilities 1,678 4,536
Accumulated other comprehensive (income) loss, before tax $ (2,837) $ (1,724)