Leases - Schedule of Lease Expenses and Other Lease Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Lease Expense
Operating lease expense	$ 4,634	$ 5,000	$ 5,935
Finance lease expense:
Amortization of ROU assets	228	207	199
Interest on lease liabilities	101	104	112
Total	4,963	5,311	6,246
Operating cash flows from operating leases	4,571	4,466	5,263
Operating cash flows from finance leases	101	104	112
Financing cash flows from finance leases	$ 249	$ 214	$ 195