Leases - Supplemental consolidated cash flow information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases [Abstract]
Operating cash payments from operating leases	$ 2,836	$ 3,346	$ 3,630
ROU assets obtained in exchange for new operating lease liabilities	$ 2,650	$ 1,172	$ 589