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 [Line Items]
Deferred tax assets and liabilities income tax rate expected to reverse in future	27.00%
Increase in valuation allowance	$ 800
Increase in cumulative foreign tax credit carryforward	800
Income taxes provided for additional outside basis difference inherent in entities as result of reinvestment	4,900
Operating loss carryforwards valuation allowance	500
Deferred tax assets, tax credit carryforwards	686	$ 384
Deferred tax assets, valuation allowance	9,021	7,607	$ 7,048	$ 6,839
Valuation allowance, deferred tax asset, increase (decrease), amount	1,414	559	209
Unrecognized tax benefits	24,131	145	$ 450	$ 811
Unrecognized tax benefits that would impact effective tax rate	$ 9,000	$ 100
Decrease in effective income tax rate	7.00%
Increase in unrecognized tax benefits	$ 28,100
Minimum
Income Taxes [Line Items]
Operating loss carryforwards expiration term	15 years
Maximum
Income Taxes [Line Items]
Operating loss carryforwards expiration term	20 years
Canadian Entities [Member]
Income Taxes [Line Items]
Decrease in effective income tax rate	3.80%
UK Subsidiaries [Member]
Income Taxes [Line Items]
Decrease in effective income tax rate	5.10%
Earliest Tax Year | Internal Revenue Service (IRS)
Income Taxes [Line Items]
Open tax year	2020
Earliest Tax Year | State and Foreign Jurisdictions
Income Taxes [Line Items]
Open tax year	2019
Latest Tax Year | Internal Revenue Service (IRS)
Income Taxes [Line Items]
Open tax year	2022
Latest Tax Year | State and Foreign Jurisdictions
Income Taxes [Line Items]
Open tax year	2022
Foreign Tax Authority
Income Taxes [Line Items]
Research and development costs amortization period	15 years
Deferred tax assets, valuation allowance	$ 500
Valuation allowance, deferred tax asset, increase (decrease), amount	$ 8,000
Domestic Tax Authority
Income Taxes [Line Items]
Research and development costs amortization period	5 years
Operating loss carryforwards	$ 6,500
Net operating loss carryforwards, expiration year	2034
Federal and State Jurisdiction
Income Taxes [Line Items]
Tax credit carryforward, amount	$ 700
Deferred tax assets, tax credit carryforwards	$ 700
Federal and State Jurisdiction | Earliest Tax Year
Income Taxes [Line Items]
Tax credit carryforwards, expiration year	2024
Federal and State Jurisdiction | Latest Tax Year
Income Taxes [Line Items]
Tax credit carryforwards, expiration year	2034