Acquisition, Goodwill and Acquisition-Related Intangible Assets - Narrative (Details) $ in Thousands	12 Months Ended
	Dec. 31, 2023 USD ($) acquisition	Dec. 31, 2022 USD ($) acquisition	Dec. 31, 2021 USD ($)
Business Acquisition [Line Items]
Number of businesses acquired | acquisition	0	2
Goodwill	$ 2,607	$ 85,048
Intangible asset, accumulated amortization	33,437
Privately-held Technology Company
Business Acquisition [Line Items]
Total consideration transferred		158,900
Common stock consideration		4,000
Intangible assets		62,300
Goodwill		77,500
Net tangible assets acquired		19,100
Acquisition-related expenses and restructuring costs		4,700
Intangible asset, accumulated amortization	$ 33,400	$ 33,700	$ 29,200