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Lease Arrangements - Components of Operating Lease Expense (Details) - Selling, General and Administrative Expenses [Member] - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Leases [Line Items]        
Amortization of operating lease assets $ 556 $ 669 $ 1,280 $ 1,362
Interest on operating lease liabilities 192 201 396 416
Short-term and variable lease costs 149 168 300 328
Amortization of finance lease assets 99   199  
Interest on finance lease liabilities 14   28  
Total lease cost $ 1,010 $ 1,038 $ 2,203 $ 2,106