Leases - Supplemental Balance Sheet Information (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Operating Leases
Other non-current assets	$ 16,279	$ 17,249
Accrued liabilities	5,295	4,685
Other long-term liabilities	11,307	12,849
Total operating lease liabilities	$ 16,602	$ 17,534
Operating Lease, Right-of-Use Asset, Statement of Financial Position [Extensible Enumeration]	Other non-current assets	Other non-current assets
Operating Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration]	Accrued liabilities	Accrued liabilities
Operating Lease, Liability, Noncurrent, Statement of Financial Position [Extensible Enumeration]	Other long-term liabilities	Other long-term liabilities
Weighted average remaining lease term	3 years 9 months 3 days	4 years 7 months 28 days
Weighted average discount rate	4.05%	3.30%