Leases - Operating Lease Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases [Abstract]
Operating lease expense	$ 3,651	$ 4,182	$ 3,023
Variable lease expense	924	598	489
Total operating lease expenses	4,575	4,780	3,512
Sublease income	$ 784	$ 689	$ 175