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Leases - Operating Lease Arrangements (Details)
$ in Thousands
 1 Months Ended
Mar. 31, 2018
USD ($)
ft²
item
Dec. 31, 2023
USD ($)
Dec. 31, 2022
USD ($)
Dec. 31, 2018
Lessee, Lease, Description [Line Items]        
Operating lease assets   $ 6,029 $ 6,861  
Operating lease liabilities   $ 7,112    
Vehicle leases        
Lessee, Lease, Description [Line Items]        
Lease term       12 months
Stoughton, Massachusetts        
Lessee, Lease, Description [Line Items]        
Square of feet of space | ft² 50,678      
Lease term 10 years      
Number of renewal periods | item 2      
Term of lease extension option 5 years      
Base rent $ 1,214      
Maximum | Stoughton, Massachusetts        
Lessee, Lease, Description [Line Items]        
Increase in annual base rent 3.10%      
Minimum | Stoughton, Massachusetts        
Lessee, Lease, Description [Line Items]        
Increase in annual base rent 2.50%