Leases - Operating Lease Expense, Operating lease Cash Flows and Supplemental Cash flow Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Lessee, Lease, Description [Line Items]
Total operating lease expense	$ 7,390	$ 7,296	$ 6,659
Operating cash outflows from operating leases	7,736	7,427	6,555
Operating lease right-of-use assets obtained in exchange for lease obligations	4,360	8,756	7,017
Non-cash release of operating lease obligations	0	0	654
Cost of sales
Lessee, Lease, Description [Line Items]
Total operating lease expense	3,012	2,822	2,508
Selling, general and administrative expenses
Lessee, Lease, Description [Line Items]
Total operating lease expense	$ 4,378	$ 4,474	$ 4,151