Income Taxes - Reconciliation of Beginning and Ending Balance 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]
Balance at January 1	$ 7,581	$ 9,179	$ 6,891
Additions based on tax positions related to the current year	2,737	349	1,873
Additions based on tax positions related to prior years	59		0
(Reductions) based on tax positions related to prior years		(1,947)
Reductions as a result of a lapse of applicable statute of limitations	0	0	(47)
Other	0	0	462
Balance at December 31	$ 10,377	$ 7,581	$ 9,179