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, 2023
Dec. 31, 2022
Changes in projected benefit obligation:    
Projected benefit obligation, beginning of period $ 6,573 $ 9,733
Service cost $ 233 $ 289
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 $ 247 $ 79
Actuarial (gain) loss 284 (2,817)
Benefits paid and settlements (6,060) (124)
Currency exchange rate changes 106 (587)
Projected benefit obligation, end of period 1,383 6,573
Changes in fair value of plan assets:    
Fair value of plan assets, beginning of period 4,895 5,198
Actual return on plan assets (194) (24)
Employer contributions 3,245 0
Plan settlements (8,162) 0
Currency exchange rate changes 216 (279)
Fair value of plan assets, end of period 0 4,895
Net unfunded status 1,383 1,678
Amounts recognized in the Consolidated Balance Sheets    
Other long-term liabilities 1,383 1,678
Accumulated other comprehensive (income) loss, before tax $ 4,083 $ (2,837)