Leases - Supplemental Cash flow Information (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 from operating leases	$ 6,215	$ 6,876	$ 6,028
Finance cash flows from finance leases	505	1,575	1,705
Right-of-use assets obtained in exchange for lease obligations: Operating leases	3,563	1,816	6,299
Right-of-use assets obtained in exchange for lease obligations: Finance leases	$ 0	$ 0	$ 0