Treasury Stock - Repurchased Shares of Common Stock (Details) - USD ($) shares in Thousands, $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Equity, Class of Treasury Stock [Line Items]
Number of shares repurchased (in shares)	140	53
Total cost of shares repurchased	$ 1,230	$ 812
Open market shares repurchased
Equity, Class of Treasury Stock [Line Items]
Number of shares repurchased (in shares)	95	0
Total cost of shares repurchased	$ 843	$ 0
Stock-based compensation related shares repurchased
Equity, Class of Treasury Stock [Line Items]
Number of shares repurchased (in shares)	45	53
Total cost of shares repurchased	$ 387	$ 812