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Leases - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases [Abstract]
Net investment in lease	$ 42,761	$ 44,049
Net investment in lease, current	34,929	37,301
Residual value of leased asset	13,446	12,875
Net investment in lease, noncurrent	5,614	6,127
Lease income	1,441	903
Right-of-use lease asset	48,517	54,930
Lease liability	51,130	57,369
Rental expense	$ 6,859	$ 7,623	$ 8,298

X

- Definition

Amount of lease income from operating, direct financing, and sales-type leases. Includes, but is not limited to, variable lease payments, interest income, profit (loss) recognized at commencement, and lease payments paid and payable to lessor.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 842
-SubTopic 30
-Name Accounting Standards Codification
-Section 50
-Paragraph 5
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479773/842-30-50-5

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- Definition

Amount, before allowance for credit loss, of net investment in sales-type and direct financing leases.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 326
-SubTopic 20
-Name Accounting Standards Codification
-Section 45
-Paragraph 1
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-URI https://asc.fasb.org//1943274/2147479344/326-20-45-1

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- Definition

Amount, before allowance for credit loss, of net investment in sales-type and direct financing leases, classified as current.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 326
-SubTopic 20
-Name Accounting Standards Codification
-Section 45
-Paragraph 1
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479344/326-20-45-1

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Amount, before allowance for credit loss, of net investment in sales-type and direct financing leases, classified as noncurrent.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 326
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-URI https://asc.fasb.org//1943274/2147479344/326-20-45-1

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Amount of operating lease expense. Excludes sublease income.

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Present value of lessee's discounted obligation for lease payments from operating lease.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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- Definition

Amount of lessee's right to use underlying asset under operating lease.

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- Definition

Amount of residual asset covered by residual value guarantee. Excludes guarantee considered to be lease payments for lessor.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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-SubTopic 30
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