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Leases - Supplemental cash flow information and other related information (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Leases [Abstract]      
Operating cash flows from operating leases $ 31,124 $ 29,985 $ 38,288
Operating cash flows from finance leases 1,063 1,117 1,044
Financing cash flows from finance leases 5,360 3,346 2,852
ROU assets obtained in exchange for new lease obligations - Operating leases 8,048 14,564 24,136
ROU assets obtained in exchange for new lease obligations - Finance leases $ 6,198 $ 556 $ 0
Weighted average remaining lease term - Operating leases 7 years 3 months 18 days 7 years 6 months 7 years 10 months 24 days
Weighted average remaining lease term - Finance leases 8 years 3 months 18 days 8 years 2 months 12 days 8 years 3 months 18 days
Weighted average discount rate - Operating leases 3.30% 3.00% 2.70%
Weighted average discount rate - Finance leases 3.90% 4.20% 5.00%