Summary of Significant Accounting policies - Share Repurchase Program (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	May 12, 2022
Accounting Policies [Abstract]
Amount the company can repurchase					$ 50,000
Treasury stock, repurchased (in shares)	2,380,834	2,700,000
Treasury stock, repurchased average cost per share (in dollars per share)	$ 10.50	$ 10.62
Treasury stock, repurchased	$ 25,000	$ 29,155	$ 5,721	$ 7,471
Stock repurchase program, remaining authorized repurchase amount	$ 15,800	$ 15,800