Allowance for Credit Losses - Roll Forward (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Allowance for doubtful accounts
Balance, beginning of year	$ 2,285	$ 2,231	$ 3,888
Current period provision for expected credit losses, net of recoveries	1,030	163	176
Charge-offs of amounts previously written off	(148)	(109)	(1,833)
Balance, end of year	$ 3,167	$ 2,285	$ 2,231