Leases - Lease Costs (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases
Operating lease cost	$ 9,688	$ 10,047	$ 9,848
Short-term lease cost	150	596	593
Variable lease cost	39	115	143
Total lease cost	$ 9,877	$ 10,758	$ 10,584