Leases - Operating lease costs (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Lessee, Lease, Description [Line Items]
Total net operating lease costs	$ 2,770	$ 3,297	$ 4,069
Building rent
Lessee, Lease, Description [Line Items]
Total net operating lease costs	1,638	2,117	2,564
Automobile rentals
Lessee, Lease, Description [Line Items]
Total net operating lease costs	$ 1,132	$ 1,180	$ 1,505

Amount of single lease cost, calculated by allocation of remaining cost of lease over remaining lease term. Includes, but is not limited to, single lease cost, after impairment of right-of-use asset, calculated by amortization of remaining right-of-use asset and accretion of lease liability.

Reference 1: http://www.xbrl.org/2003/role/exampleRef
-Topic 842
-SubTopic 20
-Name Accounting Standards Codification
-Section 55
-Paragraph 53
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479589/842-20-55-53

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 842
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 4
-Subparagraph (b)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147478964/842-20-50-4

Name:	us-gaap_OperatingLeaseCost
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration