Leases - Balance Sheet Location (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Operating leases
Operating lease right-of-use assets	$ 14,905	$ 17,291
Other current liabilities	$ 3,040	$ 3,128
Operating Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration]	Other accrued liabilities	Other accrued liabilities
Long-term operating lease liabilities	$ 11,865	$ 14,163
Total operating lease liabilities	14,905	17,291
Finance leases
Property, plant, and equipment	1,317	1,442
Accumulated amortization	(1,104)	(1,130)
Property, plant, and equipment - net	$ 213	$ 312
Finance Lease, Right-of-Use Asset, Statement of Financial Position [Extensible Enumeration]	Property, plant, and equipment - net (Note 8)	Property, plant, and equipment - net (Note 8)
Current maturities of long-term debt	$ 102	$ 127
Finance Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration]	Long-Term Debt and Lease Obligation, Current	Long-Term Debt and Lease Obligation, Current
Long-term debt	$ 111	$ 185
Finance Lease, Liability, Noncurrent, Statement of Financial Position [Extensible Enumeration]	Long-term portion	Long-term portion
Total finance lease liabilities	$ 213	$ 312