Property and Equipment, net - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Property, Plant and Equipment [Line Items]
Property and equipment capitalized but not placed in service	$ 1,000,000	$ 1,500,000
Total depreciation and amortization expense	17,699,000	16,520,000	$ 16,279,000
Property and equipment disposals	0
Property and Equipment
Property, Plant and Equipment [Line Items]
Total depreciation and amortization expense	12,100,000	13,000,000	14,600,000
Software Development
Property, Plant and Equipment [Line Items]
Depreciation and amortization expense	11,300,000	12,200,000	$ 12,200,000
Computer Equipment, Software And Software Development Costs And Furniture And Fixtures
Property, Plant and Equipment [Line Items]
Total depreciation and amortization expense	400,000	1,200,000
Property and equipment disposals	17,500,000	9,900,000
Accumulated amortization written off	$ 17,100,000	$ 8,700,000