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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, 2024
Mar. 31, 2023
Lessee, Lease, Description [Line Items]    
Total operating lease expense $ 1,859 $ 1,868
Operating cash outflows from operating leases 1,745 1,831
Cost of sales    
Lessee, Lease, Description [Line Items]    
Total operating lease expense 708 792
Selling, general and administrative expenses    
Lessee, Lease, Description [Line Items]    
Total operating lease expense $ 1,151 $ 1,076