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Leases - Components of Lease Expense (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Leases [Abstract]    
Operating lease cost $ 5,526 $ 5,832
Amortization of right-of-use assets 123 166
Interest on lease liabilities 7 16
Total Finance lease cost 130 182
Variable lease cost 2,068 1,899
Sublease income (834) (828)
Total lease cost, net 6,890 7,085
Cash paid for amounts included in the measurement of lease liabilities:    
Operating cash flows from operating leases 12,525 12,698
Operating cash flows from finance leases 21 15
Financing cash flows from finance leases $ 160 $ 194
Weighted Average Remaining Lease term (in years)    
Operating leases (in years) 6 years 10 months 2 days 5 years 11 months 1 day
Finance leases (in years) 1 year 14 days 1 year 4 months 9 days
Weighted Average Discount Rate    
Operating leases 5.65% 3.55%
Finance leases 7.76% 5.70%