Leases - Supplemental Balance Sheet Information Related to Leases (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Operating leases:
Operating lease right-of-use assets	$ 12,521	$ 18,989
Current operating lease liabilities	5,258	5,535
Operating lease liabilities - less current portion	11,495	14,532
Total operating lease liabilities	16,753	20,067
Finance leases:
Property and equipment, at cost	1,589	1,523
Accumulated amortization	(1,442)	(1,387)
Property and equipment, net	147	136
Current finance lease liabilities	120	174
Finance lease liabilities - less current portion	95	117
Total finance lease liabilities	$ 215	$ 291
Weighted Average Remaining Lease Term (in years):
Operating leases	4 years 8 months 1 day	4 years 11 months 19 days
Finance leases	2 years 1 month 28 days	2 years 2 months 26 days
Weighted Average Discount Rate:
Operating leases	5.68%	5.67%
Finance leases	5.12%	5.31%
Operating Lease, Liability, Current, Statement of Financial Position [Extensible List]	Lease liabilities	Lease liabilities
Operating Lease, Liability, Noncurrent, Statement of Financial Position [Extensible List]	Lease liabilities - less current portion	Lease liabilities - less current portion
Operating Lease, Liability, Statement of Financial Position [Extensible List]	Liabilities	Liabilities
Finance Lease, Right-of-Use Asset, Statement of Financial Position [Extensible List]	Property, plant and equipment, net	Property, plant and equipment, net
Finance Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration]	Lease liabilities	Lease liabilities
Finance Lease, Liability, Noncurrent, Statement of Financial Position [Extensible Enumeration]	Lease liabilities - less current portion	Lease liabilities - less current portion
Finance Lease, Liability, Statement of Financial Position [Extensible Enumeration]	Liabilities	Liabilities