Income Taxes - Schedule of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits [Roll Forward]
Balance at beginning of year	$ 2,724	$ 2,697	$ 3,157
Additions based on tax positions related to the current year	727	683	563
Additions for tax positions of prior years	24	47	436
Settlements for tax positions of prior years	0	(82)	(1,289)
Settlements or lapse of statute of limitations	(398)	(621)	(170)
Balance at end of year	$ 3,077	$ 2,724	$ 2,697