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Leases - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Lessee, Lease, Description [Line Items]      
Sublease income $ 1,200,000 $ 900,000 $ 1,000,000
Impairment of operating lease right-of-use assets 744,000 $ 2,083,000 $ 0
Lease not yet commenced, commitment amount $ 2,300,000    
Minimum      
Lessee, Lease, Description [Line Items]      
Remaining lease terms, operating (in years) 1 year    
Subleases, remaining lease terms (in years) 1 year    
Lease not yet commenced, term of contract 3 years    
Maximum      
Lessee, Lease, Description [Line Items]      
Remaining lease terms, operating (in years) 7 years    
Remaining lease terms, finance (in years) 1 year    
Subleases, remaining lease terms (in years) 7 years