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Leases - Supplemental Cash Flow Information Related to Leases (Details) - USD ($)
$ in Thousands
9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Cash paid for amounts included in the measurement of lease liabilities    
Operating cash flows from operating leases $ 10,016 $ 10,533
Operating cash flows from finance leases 1,676 1,760
Financing cash flows from finance leases 1,359 1,250
Right-of-use assets obtained in exchange for lease obligations    
Operating leases 3,578 4,997
Finance leases $ 0 $ 0