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Leases - Summary of Lease Costs (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Finance lease cost:      
Amortization of ROU asset $ 180 $ 180 $ 180
Interest expense on lease liability 123 127 130
Total finance lease cost 303 307 310
Operating lease cost 2,081 2,057 2,002
Short-term and equipment lease costs 0 0 29
Sublease income (29) (24) (27)
Total lease costs $ 2,355 $ 2,340 $ 2,314