Income Taxes - Uncertain tax positions (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance, beginning	$ 1,014	$ 1,587
Decrease related to prior year tax positions	(756)	(882)
Increase related to tax positions from acquired companies		309
Balance, ending	258	1,014
Income Taxes Payable
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Accrued interest and penalties	$ 100	$ 300