Summary of Significant Accounting Policies, Cash, Cash Equivalents and Restricted Cash (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Cash, Cash Equivalents and Restricted Cash [Abstract]
Cash and cash equivalents	$ 55,904	$ 140,517
Restricted cash	1,372	1,340
Total cash, cash equivalents and restricted cash	$ 57,276	$ 141,857	$ 234,037	$ 298,666