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Leases - Operating Lease Expense, Operating Lease Cash Flows and Supplemental Cash Flow Information (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Lessee, Lease, Description [Line Items]        
Total operating lease expense $ 1,768 $ 1,869 $ 5,457 $ 5,453
Operating cash outflows from operating leases 2,301 1,858 5,878 5,318
Operating lease right-of-use assets obtained in exchange for lease obligations 242 1,604 2,202 4,535
Cost of sales        
Lessee, Lease, Description [Line Items]        
Total operating lease expense 738 741 2,242 2,138
Selling, general and administrative expenses        
Lessee, Lease, Description [Line Items]        
Total operating lease expense $ 1,030 $ 1,128 $ 3,215 $ 3,315