Treasury Stock - Repurchased Shares of Common Stock (Details) - USD ($) shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Equity, Class of Treasury Stock [Line Items]
Total shares repurchased (in shares)	165	434	1,243
Total cost of shares repurchased	$ 1,779	$ 13,035	$ 59,664
Open market shares repurchased
Equity, Class of Treasury Stock [Line Items]
Total shares repurchased (in shares)	100	300	1,151
Total cost of shares repurchased	$ 864	$ 9,437	$ 54,868
Stock-based compensation related shares repurchased
Equity, Class of Treasury Stock [Line Items]
Total shares repurchased (in shares)	65	134	92
Total cost of shares repurchased	$ 915	$ 3,598	$ 4,796