Related Party Transactions - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Related Party Transaction [Line Items]
Payments to related party	$ 43,598	$ 32,457	$ 28,024
Due to related parties	883	3,844
Selling, general and administrative expenses from transactions with related party	$ 180,022	159,323	114,087
Director \| License Agreement
Related Party Transaction [Line Items]
Percentage of revenue paid as royalty	4.00%
Royalty estimated useful life	15 years
Related party transaction term of agreement	20 years
Related party transaction, agreement renewal term	5 years
Director \| Related Party \| License Agreement
Related Party Transaction [Line Items]
Due to related parties	$ 16	0
Payments to related party	269	249	87
Due to related parties	155	164
Selling, general and administrative expenses from transactions with related party	327	$ 405	$ 542
Annual Payment Threshold \| Minimum \| Director \| Related Party \| License Agreement
Related Party Transaction [Line Items]
Due to related parties	$ 250

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