Leases - Lease Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Lessee, Lease, Description [Line Items]
Operating lease expense	$ 10,025	$ 8,703	$ 7,495
Sales, general and administrative expenses
Lessee, Lease, Description [Line Items]
Operating lease expense	6,659	4,388	3,820
Research and development expenses
Lessee, Lease, Description [Line Items]
Operating lease expense	$ 3,366	$ 4,315	$ 3,675