Leases - Right-of-Use Lease Assets and Lease Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Assets
Operating lease	$ 24,281	$ 28,265
Finance lease	$ 1,269	$ 1,422
Finance lease asset, balance sheet line item	Property, plant and equipment, net	Property, plant and equipment, net
Total leased assets	$ 25,550	$ 29,687
Current:
Operating lease	8,193	8,155
Finance lease	$ 70	$ 86
Finance lease liabilities, current, balance sheet line item	Accrued liabilities	Accrued liabilities
Noncurrent:
Operating lease	$ 16,030	$ 20,021
Finance lease	$ 28	$ 101
Finance lease liabilities, noncurrent, balance sheet line item	Other long-term liabilities	Other long-term liabilities
Total leased liabilities	$ 24,321	$ 28,363