Leases - Supplemental Cash Flows (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Cash paid for amounts included in the measurement of lease liabilities:
Operating cash flows from operating leases	$ 7,288	$ 7,513	$ 7,860
Operating cash flows from finance leases	16	18	20
Financing cash flows from finance leases	216	220	296
ROU assets obtained in exchange for lease obligations:
Operating leases	$ 1,298	$ 1,792	$ 1,210