Summary of Significant Accounting Policies - Reconciliation of Cash and Restricted Cash (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Restricted Cash and Cash Equivalents Items [Line Items]
Cash and cash equivalents	$ 33,256	$ 20,532
Restricted cash	11,990	10,535
Total cash, cash equivalents and restricted cash shown in the consolidated statements of cash flows	45,246	31,067	$ 107,317	$ 52,065
Collateral for Outstanding Letters of Credit
Restricted Cash and Cash Equivalents Items [Line Items]
Restricted cash	111	892
Captive Insurance Subsidiary
Restricted Cash and Cash Equivalents Items [Line Items]
Restricted cash	11,879	$ 9,643
Initial Capitalization
Restricted Cash and Cash Equivalents Items [Line Items]
Restricted cash	$ 1,500