Leases - Lease Cost (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases [Abstract]
Operating lease cost	$ 6,621	$ 7,212	$ 7,805
Finance lease cost:
Amortization of ROU assets	102	113	295
Interest on lease liabilities	16	18	20
Total finance lease cost	$ 118	$ 131	$ 315