Segment Reporting - Long-Lived Assets by Geographic Areas (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Segment Reporting Information [Line Items]
Total long-lived assets	$ 253,655	$ 257,785
Operating Segments
Segment Reporting Information [Line Items]
Total long-lived assets	253,655	257,785	$ 280,346
Operating Segments | United States
Segment Reporting Information [Line Items]
Total long-lived assets	201,388	203,816	215,701
Operating Segments | Europe
Segment Reporting Information [Line Items]
Total long-lived assets	52,267	53,835	59,388
Operating Segments | Japan
Segment Reporting Information [Line Items]
Total long-lived assets	$ 0	$ 134	$ 5,257