Leases - Net Lease Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Net lease expense
Operating lease expense	$ 8,167	$ 8,883	$ 9,432
Short-term lease expense	26	26	246
Variable lease expense	2,112	2,135	2,204
Finance lease expense:
Amortization of right-of-use assets		1	3
Total finance lease expense		1	3
Less: Sublease income	(649)	(637)	(744)
Net lease expense	$ 9,656	$ 10,408	$ 11,141