Leases - Supplemental Balance Sheet Information Related to Leases (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Operating leases:
Operating lease right-of-use assets	$ 11,075	$ 12,231
Current operating lease liabilities	5,106	5,434
Operating lease liabilities - less current portion	9,690	10,837
Total operating lease liabilities	14,796	16,271
Finance leases:
Property and equipment, at cost	1,685	1,722
Accumulated amortization	(1,532)	(1,547)
Property and equipment, net	153	175
Current finance lease liabilities	79	108
Finance lease liabilities - less current portion	92	112
Total finance lease liabilities	$ 171	$ 220
Weighted Average Remaining Lease Term (in years):
Operating leases	4 years 6 months	4 years 6 months 25 days
Finance leases	2 years 4 months 28 days	2 years 4 months 24 days
Weighted Average Discount Rate:
Operating leases	5.73%	5.71%
Finance leases	4.98%	5.02%
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