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Leases - Schedule of Lease Cost (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Leases [Abstract]      
Operating Lease, Right-of-Use Asset, Statement of Financial Position [Extensible Enumeration] Prepaid Expense and Other Assets Prepaid Expense and Other Assets  
Operating lease cost $ 5,279 $ 4,942  
Short-term lease cost 80 80  
Variable lease cost 1,243 1,118  
Sublease income (392) (87)  
Total net lease cost during the period 6,210 6,053  
Operating cash used for amounts included in the measurement of lease liabilities during the period 4,982 4,748  
ROU assets obtained in exchange for new operating lease liabilities $ 6,880 $ 2,869 $ 13,966
Weighted average remaining lease term of operating leases, in years, at period end 6 years 2 months 12 days 6 years 6 months  
Weighted average discount rate of operating leases, at period end 2.95% 2.42%