Commitments and Contingencies - Schedule of lease costs (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Operating lease cost:
Fixed lease cost	$ 3,317	$ 3,284	$ 3,970
Variable lease cost	1,515	1,498	1,239
Total operating lease cost	4,832	4,782	5,209
Finance lease cost:
Amortization of ROU assets	2,790	2,676	2,825
Interest on lease liabilities	375	234	279
Total finance lease cost	$ 3,165	$ 2,910	$ 3,104