Leases - Lease Cost and Supplemental Cash Flow Information Related to Leases (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases [Abstract]
Lease, Cost	$ 2,002	$ 2,415	$ 2,350
Cash paid for amounts included in the measurement of lease liabilities:
Operating cash flows from leases	1,821	2,293
Right-of-use assets obtained in exchange for new operating lease liabilities	$ 1,534	$ 1,597