Leases - Summary of Supplemental Cash Flow Information related to Leases (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Operating cash outflows:
Operating lease payments	$ 4,960	$ 4,828	$ 4,805
Interest on finance lease	2,221	2,375	2,522
Total operating cash outflows	7,181	7,203	7,327
Finance cash outflows:
Principal payments on finance lease	$ 3,235	$ 3,085	$ 2,935