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Commitments and Contingencies - Lease related assets and liabilities (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
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 $ 18,480   $ 19,128
Operating Lease, Liability, Current, Statement of Financial Position [Extensible List] Operating lease liabilities, Current   Operating lease liabilities, Current
Operating lease liabilities, Current $ 2,740   $ 2,807
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 $ 17,857   $ 18,436
Present value of future minimum lease payments $ 20,597   $ 21,243
Weighted average remaining lease term 6 years 6 months   6 years 8 months 12 days
Weighted average discount rate 4.30%   4.30%
Cash paid for operating lease liabilities $ 867 $ 860