Annual report pursuant to Section 13 and 15(d)

Summary of Significant Accounting Policies - Cash, cash equivalents and restricted cash (Details)

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Summary of Significant Accounting Policies - Cash, cash equivalents and restricted cash (Details) - USD ($)
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Summary of Significant Accounting Policies        
Cash and cash equivalents $ 143,991,000 $ 108,033,000    
Restricted cash 3,026,000 1,569,000    
Total cash, cash equivalents, and restricted cash shown in the statement of cash flows $ 147,017,000 $ 109,602,000 $ 151,666,000 $ 61,484,000