Leases - Lease costs and other lease information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Lease costs
Operating lease cost	$ 1,914	$ 1,799	$ 1,827
Variable lease cost	1,159	899	823
Short-term lease cost	167	217	181
Finance lease cost
Interest on lease liabilities		7	25
Amortization of right-of-use assets		87	116
Sublease Income	(219)	(238)	(228)
Net lease cost	3,021	2,771	2,744
Cash paid for amounts included in the measurement of lease liabilities operating cash flows from operating leases	1,755	1,706	1,763
Right-of-use assets obtained in exchange for new operating lease liabilities	$ 1,868	$ 4,266	$ 267