Leases - Cash Payments Included in Measurement of Lease liabilities (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Finance leases
Operating cash flows included in operating activities	$ 163	$ 188	$ 219
Financing cash flows included in payments under finance lease obligations	721	1,409	1,434
Operating leases
Operating cash flows (fixed payments) included in other operating activities, net	4,188	4,829	4,781
Operating cash flows (liability reduction) included in other operating activities, net	$ 3,643	$ 4,009	$ 3,948