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Commitments and Contingencies - Lease related assets and liabilities (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Lease-related assets and liabilities    
Operating Lease, Right-of-Use Asset, Statement of Financial Position [Extensible List] Right of use operating lease assets Right of use operating lease assets
Right of use operating lease assets $ 19,128 $ 21,322
Operating Lease, Liability, Current, Statement of Financial Position [Extensible List] Operating lease liabilities, Current Operating lease liabilities, Current
Operating lease liabilities, Current $ 2,807 $ 2,500
Operating Lease, Liability, Noncurrent, Statement of Financial Position [Extensible List] Operating lease liabilities, non-current Operating lease liabilities, non-current
Operating lease liabilities, non-current $ 18,436 $ 20,866
Present value of future minimum lease payments $ 21,243 $ 23,366
Weighted average remaining lease term 6 years 8 months 12 days 7 years 8 months 12 days
Weighted average discount rate 4.30% 4.20%
Cash paid for operating lease liabilities $ 3,453 $ 3,575
Non-cash right of use assets obtained in exchange for new operating lease obligations $ 293 $ 49