Fair Value Measurements - Reconciliation of the contingent consideration (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Fair value adjustments	$ (533)	$ (133)	$ 309
Cash payments	(1,234)	(1,120)	(869)
Measured on a recurring basis
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Balance at Beginning	4,527
Balance at Ending	2,760	4,527
Level 3 | Measured on a recurring basis
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Balance at Beginning	4,527	5,780
Fair value adjustments	(533)	(133)
Cash payments	(1,234)	(1,120)
Balance at Ending	$ 2,760	$ 4,527	$ 5,780