Income Taxes - Uncertain Tax Positions (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Change in unrecognized tax benefits
Balance at beginning of year	$ 16,110	$ 12,761	$ 12,363
Additions for tax positions related to current year	2,596	4,180	2,642
Additions for tax positions related to prior years	83		50
Reductions for tax positions related to prior years	(3,048)	(731)	(1,196)
Settlements		(100)	(1,098)
Balance at end of year	15,741	16,110	$ 12,761
Unrecognized tax benefits that would impact effective tax rate if recognized	13,900
Accrued interest and penalties	$ 600	$ 500