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Operating Leases - Operating Lease Expense Components (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Operating lease expense components:      
Leases with initial term of greater than 12 months $ 8,481 $ 8,325 $ 9,412
Leases with initial term of 12 months or less 4,852 4,718 4,232
Total operating lease expense $ 13,333 $ 13,043 $ 13,644