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Summary of Significant Accounting Policies - Recently issued and applicable accounting pronouncements (Details) - USD ($)
$ in Thousands
Sep. 30, 2024
Jun. 30, 2024
Dec. 31, 2023
Sep. 30, 2023
Jun. 30, 2023
Jan. 01, 2023
Dec. 31, 2022
New Accounting Pronouncements or Change in Accounting Principle [Line Items]              
Tax effected cumulative adjustment to retained earnings $ (660,580) $ (665,321) $ (671,645) $ (650,180) $ (652,325)   $ (622,404)
Retained Earnings              
New Accounting Pronouncements or Change in Accounting Principle [Line Items]              
Tax effected cumulative adjustment to retained earnings $ (42,051) $ (47,380) $ (54,782) $ (51,758) $ (48,610)   (32,388)
Adoption of ASU No. 2016 -13 (Note 2)              
New Accounting Pronouncements or Change in Accounting Principle [Line Items]              
Tax effected cumulative adjustment to retained earnings             118
Adoption of ASU No. 2016 -13 (Note 2) | Retained Earnings              
New Accounting Pronouncements or Change in Accounting Principle [Line Items]              
Tax effected cumulative adjustment to retained earnings           $ 100 $ 118