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Leases - Schedule of Lease Costs and Other Lease Information (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Leases [Abstract]    
Operating lease cost (cost resulting from lease payments) $ 6,590 $ 7,145
Variable lease cost (cost excluded from lease payments) 1,000 1,008
Sublease income (119) (241)
Net lease cost 7,471 7,912
Operating lease - operating cash flows (fixed payments) 7,198 7,368
Right-of-use assets - operating leases 19,129 24,544
Operating lease liabilities $ 23,238 $ 29,267
Weighted average lease term - operating leases 4 years 11 months 4 days 5 years 6 months
Weighted average discount rate - operating leases 2.78% 2.91%