Income Taxes - Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of the beginning and ending balance of unrecognized tax benefits
Balance at beginning of year	$ 10,443	$ 9,961	$ 10,044
Decrease in unrecognized tax benefits as a result of tax positions taken during a prior period	(271)	(122)	(546)
Decreases in unrecognized tax benefits related to settlements with tax authorities		(708)
Reductions to unrecognized tax benefits as a result of a lapse of the applicable statute of limitations			(472)
Increases in unrecognized tax benefits as a result of tax positions taken during the current period	1,754	1,312	935
Balance at end of year	11,926	10,443	9,961
Recorded as other long-term liability	8,344	7,190
Recorded as a decrease in deferred tax assets	$ 3,582	$ 3,253	$ 9,961