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Leases - Supplemental Cash Flow Information Related to Leases (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Cash paid for amounts included in the measurement of lease liabilities      
Operating cash flows from operating leases $ 13,472 $ 14,203 $ 13,630
Operating cash flows from finance leases 2,226 2,338 2,355
Financing cash flows from finance leases 1,831 1,685 1,525
Right-of-use assets obtained in exchange for lease obligations      
Operating leases 18,147 5,096 10,160
Finance leases $ 0 $ 0 $ 2,108