Income Taxes - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Taxes
Deferred tax assets	$ 53,428	$ 31,701
Increase in deferred tax asset	20,000
Deferred tax assets valuation allowance	10,963	8,370
Increase in valuation allowance	2,600
Cash associated with indefinitely reinvested foreign earnings	11,800
Unrecognized tax benefits related to uncertain tax positions	11,926	10,443	$ 9,961	$ 10,044
Recorded as other long-term liability	8,344	$ 7,190
Interest and penalty expense recognized related to unrecognized tax benefits	$ 500