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Leases - Operating Lease Expense, Operating Lease Cash Flows and Supplemental Cash Flow Information (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Lessee, Lease, Description [Line Items]        
Total operating lease expense $ 1,821 $ 1,841 $ 3,689 $ 3,584
Operating cash outflows from operating leases 1,746 1,781 3,577 3,460
Operating lease right-of-use assets obtained in exchange for lease obligations 1,960 255 1,960 3,073
Cost of sales        
Lessee, Lease, Description [Line Items]        
Total operating lease expense 712 762 1,504 1,397
Selling, general and administrative expenses        
Lessee, Lease, Description [Line Items]        
Total operating lease expense $ 1,109 $ 1,079 $ 2,185 $ 2,187