Leases - Supplemental Cash Flow Information Related to Operating Leases (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Cash paid for amounts included in the measurement of lease liabilities
Operating cash flows used	$ 4,233	$ 5,097	$ 4,895
Lease liabilities arising from remeasurement of right-of-use assets
Operating leases	159		$ 698
Lease liabilities arising from obtaining ROU assets
Operating leases	$ 1,690	$ 2,237