Accrued Liabilities - Activity Related to Accrued Warranties (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Movement in Standard Product Warranty Accrual [Roll Forward]
Balance, beginning of year	$ 2,610	$ 1,880	$ 1,683
Provision for warranty expense	3,986	3,715	2,851
Fulfillment of warranty obligations	(3,765)	(2,985)	(2,654)
Balance, end of year	$ 2,831	$ 2,610	$ 1,880