Income Taxes - Reconciliation of Uncertain Tax Positions (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Uncertain Tax Positions [Roll Forward]
Beginning balance of uncertain tax positions	$ 1,480	$ 3,658	$ 5,292
Additions related to current year tax positions	3,749	0	0
Reductions related to prior year tax positions	(688)	(1,180)	(188)
Settlements	(442)	(306)	(1,446)
Lapse of statute of limitations	0	(692)	0
Ending balance of uncertain tax positions	$ 4,099	$ 1,480	$ 3,658