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Leases - Operating Lease Expense, Operating Lease Cash Flows and Supplemental Cash Flow Information (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Lessee, Lease, Description [Line Items]    
Total operating lease expense $ 1,868 $ 1,743
Operating cash outflows from operating leases 1,831 1,679
Operating lease right-of-use assets obtained in exchange for lease obligations 0 2,959
Cost of sales    
Lessee, Lease, Description [Line Items]    
Total operating lease expense 792 635
Selling, general and administrative expenses    
Lessee, Lease, Description [Line Items]    
Total operating lease expense $ 1,076 $ 1,108