Income Taxes - Reconciliation 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, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Beginning balance	$ 34,208	$ 39,527	$ 46,032
Increases related to tax positions during a prior year	218	0	3,448
Decreases related to tax positions taken during a prior year	(1,023)	(2,816)	(5,511)
Increases related to tax positions taken in the current year	744	819	4,675
Decreases related to expiration of statute of limitations	(4,989)	(3,322)	(9,117)
Ending balance	$ 29,158	$ 34,208	$ 39,527