Goodwill and Intangible Assets, Net - Amortization Expense by Income Statement Caption (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Finite-Lived Intangible Assets [Line Items]
Total amortization expense	$ 4,883	$ 4,018	$ 3,990
Cost of sales
Finite-Lived Intangible Assets [Line Items]
Total amortization expense	443	49	27
Selling, general and administrative expenses
Finite-Lived Intangible Assets [Line Items]
Total amortization expense	$ 4,440	$ 3,969	$ 3,963