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Leases - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Lessee, Lease, Description [Line Items]      
Operating lease, weighted average remaining lease term 4 years 7 months 6 days 3 years 10 months 24 days  
Operating lease, weighted average discount rate, percent 4.80% 3.40%  
Right-of-use asset impairment $ 2,239,000 $ 0 $ 0
Operating lease payments, leases not yet commenced $ 804,000    
Minimum      
Lessee, Lease, Description [Line Items]      
Remaining lease term (less than) 1 year    
Renewal term 1 year    
Termination period (less than) 1 year    
Maximum      
Lessee, Lease, Description [Line Items]      
Remaining lease term (less than) 10 years    
Renewal term 5 years    
Termination period (less than) 5 years