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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, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Lessee, Lease, Description [Line Items]        
Total operating lease expense $ 1,692 $ 1,821 $ 3,551 $ 3,689
Operating cash outflows from operating leases 1,570 1,746 3,315 3,577
Operating lease right-of-use assets obtained in exchange for lease obligations 9 1,960 9 1,960
Cost of sales        
Lessee, Lease, Description [Line Items]        
Total operating lease expense 590 712 1,298 1,504
Selling, general and administrative expenses        
Lessee, Lease, Description [Line Items]        
Total operating lease expense $ 1,102 $ 1,109 $ 2,253 $ 2,185