Income Taxes - Schedule of Income Before Income Tax Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Domestic	$ 31,942	$ 66,966	$ 94,770
Foreign	5,819	9,650	9,958
Income before income taxes	$ 37,761	$ 76,616	$ 104,728