Leases - Components of Lease Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Lease cost
Operating lease cost	$ 6,400	$ 5,673	$ 6,210
Short-term lease cost	1,037	1,265	747
Variable lease cost	1,952	857	973
Total lease cost	9,389	7,795	7,930
Cash paid for amounts included in the measurement of lease liabilities
Operating cash flows from operating leases	6,808	6,385	6,609
ROU Assets obtained in exchange for lease obligations	$ 6,064	$ 1,650	$ 7,143
Weighted-average remaining lease term — operating leases	3 years 3 months 18 days	4 years 2 months 12 days	4 years 6 months
Weighted-average discount rate — operating leases	6.60%	4.40%	4.20%