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Leases - Supplemental Cash Flows Information (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Cash paid for amounts included in the measurement of lease liabilities:      
Operating cash flows from operating leases $ 6,720 $ 4,733 $ 3,993
Operating cash flows from finance leases 263 82 65
Financing cash flows from finance leases 202 70 58
Right-of-use assets obtained in exchange for lease liabilities      
Operating leases 11,109 12,384 $ 10,175
Finance leases $ 1,090 $ 259  
Weighted-Average Remaining Lease Term      
Operating leases 10 years 9 months 18 days 12 years 4 months 24 days  
Finance leases 4 years 2 months 12 days 3 years 4 months 24 days  
Weighted-Average Discount Rate      
Operating leases 8.70% 9.50%  
Finance leases 8.40% 7.80%