Other Assets - Schedule of Other Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Deferred Costs, Capitalized, Prepaid, and Other Assets Disclosure [Abstract]
Prepaid expenses, net of current portion	$ 16,679	$ 18,192
Equity method investments	16,068	13,879	$ 15,582
Cloud computing arrangements, net of current portion	12,806	7,507
Other investments	2,806	3,396
Tuition receivable, net, non-current	2,516	2,673
Other	3,544	4,005
Other assets	$ 54,419	$ 49,652