Income Tax Expense - Reconciliation of the Beginning and Ending Amount of Gross 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 beginning of period	$ 4,323	$ 6,100	$ 5,881
Gross increases related to current year tax positions	112	32	898
Gross increases related to prior year tax positions	9	0	0
Gross decreases related to prior year tax positions	0	(39)	(363)
Lapse of statute of limitations	(2,295)	(1,770)	(316)
Balance at end of period	$ 2,149	$ 4,323	$ 6,100