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Goodwill and Intangibles - Definite-lived Intangible assets (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Acquired Finite-Lived Intangible Assets [Line Items]      
Gross Carrying Amount $ 17,420   $ 17,420
Accumulated Amortization (11,803)   (11,403)
Net Carrying Amount 5,617   $ 6,017
Intangible asset amortization expense $ 400 $ 412  
Trade name      
Acquired Finite-Lived Intangible Assets [Line Items]      
Amortization Period 25 years   25 years
Gross Carrying Amount $ 250   $ 250
Accumulated Amortization (93)   (88)
Net Carrying Amount $ 157   $ 162
Trademarks      
Acquired Finite-Lived Intangible Assets [Line Items]      
Amortization Period 10 years   10 years
Gross Carrying Amount $ 1,610   $ 1,610
Accumulated Amortization (1,000)   (959)
Net Carrying Amount $ 610   $ 651
Non-competition agreement      
Acquired Finite-Lived Intangible Assets [Line Items]      
Amortization Period 5 years   5 years
Gross Carrying Amount $ 1,810   $ 1,810
Accumulated Amortization (1,810)   (1,810)
Net Carrying Amount $ 0   $ 0
Developed technology      
Acquired Finite-Lived Intangible Assets [Line Items]      
Amortization Period 7 years   7 years
Gross Carrying Amount $ 4,420   $ 4,420
Accumulated Amortization (3,920)   (3,762)
Net Carrying Amount 500   658
Customer relationships      
Acquired Finite-Lived Intangible Assets [Line Items]      
Gross Carrying Amount 9,330   9,330
Accumulated Amortization (4,980)   (4,784)
Net Carrying Amount $ 4,350   $ 4,546
Customer relationships | Minimum      
Acquired Finite-Lived Intangible Assets [Line Items]      
Amortization Period 10 years   10 years
Customer relationships | Maximum      
Acquired Finite-Lived Intangible Assets [Line Items]      
Amortization Period 12 years   12 years