Fair Value of Financial Instruments and Concentrations of Credit Risk - Allowances for Losses on Accounts Receivable (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Accounts Receivable, Allowance for Credit Loss [Roll Forward]
Balance at beginning of year	$ 4,817	$ 4,587	$ 5,024
Credit loss expense	1,209	1,039	664
Write-offs, net of recoveries	(1,275)	(809)	(1,101)
Balance at end of year	$ 4,751	$ 4,817	$ 4,587