Leases - Future Lease Payments under Non-Cancellable Leases (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Operating Leases
2024	$ 19,220
2025	16,442
2026	12,980
2027	10,317
2028	8,672
Thereafter	96,881
Total undiscounted lease payments	164,512
Less: imputed interest	(80,108)
Operating lease liabilities	84,404	$ 66,356
Finance Leases
2024	3,709
2025	3,656
2026	3,530
2027	3,166
2028	2,467
Thereafter	9,583
Total undiscounted lease payments	26,111
Less: imputed interest	(8,001)
Total lease liabilities	$ 18,110	$ 15,520