Segment Reporting - Expenditures For Additions To Long-Lived Assets (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Segment Reporting Information [Line Items]
Total expenditures for additions to long-lived assets	$ 28,116	$ 21,686	$ 34,209
United States
Segment Reporting Information [Line Items]
Total expenditures for additions to long-lived assets	24,553	17,538	26,698
Europe
Segment Reporting Information [Line Items]
Total expenditures for additions to long-lived assets	3,563	4,137	7,378
Japan
Segment Reporting Information [Line Items]
Total expenditures for additions to long-lived assets	$ 0	$ 11	$ 133