Summary of Significant Accounting Policies - Property and Equipment (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Property, Plant and Equipment [Line Items]
Property, plant and equipment at cost	$ 126,221	$ 118,453
Less: accumulated depreciation and amortization	(105,040)	(98,733)
Property, plant and equipment, net	21,181	19,720
Machinery and equipment
Property, Plant and Equipment [Line Items]
Property, plant and equipment at cost	99,111	91,490
Furniture and fixtures
Property, Plant and Equipment [Line Items]
Property, plant and equipment at cost	6,646	6,225
Leasehold improvements
Property, Plant and Equipment [Line Items]
Property, plant and equipment at cost	$ 20,464	$ 20,738