Lease Accounting - Components of lease expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Lessee, Lease, Description [Line Items]
Operating lease cost	$ 5,076	$ 4,839	$ 4,598
Short-term lease cost	174	175	404
Variable lease cost	813	778	738
Total lease costs	6,414	6,168	6,183
Cost of operations, exclusive of depreciation and amortization
Lessee, Lease, Description [Line Items]
Operating lease cost	3,586	3,349	3,074
Short-term lease cost	135	165	374
Variable lease cost	10	129	141
Selling, general, and administrative
Lessee, Lease, Description [Line Items]
Operating lease cost	1,490	1,490	1,524
Short-term lease cost	39	10	30
Variable lease cost	803	649	597
Depreciation and amortization
Lessee, Lease, Description [Line Items]
Amortization of lease assets	$ 351	$ 376	$ 443