Income Taxes - Income Tax Asset and Liabilities (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance at beginning of year	$ 18,474	$ 13,904	$ 1,820
Additions for tax positions of prior years	308	885	461
Tax positions related to the current year	3,376	3,685	11,623
Balance at end of year	$ 22,158	$ 18,474	$ 13,904