Leases - Components of Lease Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases [Abstract]
Operating lease expense	$ 3,671	$ 3,865	$ 3,924
Short-term lease expense	472	573	525
Variable and other lease expense	1,020	872	741
Lease expense	$ 5,163	$ 5,310	$ 5,190