Summary of Significant Accounting Policies - Allowance for Doubtful Accounts Receivable (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Allowance for Doubtful Accounts Receivable
Balance, beginning of year	$ 5,528	$ 4,250	$ 3,628
Additions to expense	1,765	1,295	1,102
Write-offs	(1,767)	(8)	(466)
Other	(94)	(9)	(14)
Balance, end of year	$ 5,432	$ 5,528	$ 4,250