Income Taxes - Balances of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]
Unrecognized tax benefits	$ 45,136	$ 41,639	$ 37,737	$ 33,219
Portion that, if recognized, would reduce tax expense and effective tax rate	42,650
Accrued interest on unrecognized tax benefits	4,903
Accrued penalties on unrecognized tax benefits	1,085
Minimum
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]
Reasonably possible reduction to the balance of unrecognized tax benefits in succeeding 12 months	0
Portion that, if recognized, would reduce tax expense and effective tax rate	0
Maximum
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]
Reasonably possible reduction to the balance of unrecognized tax benefits in succeeding 12 months	8,932
Portion that, if recognized, would reduce tax expense and effective tax rate	$ 8,660