Income Taxes - Schedule of Activity Related to the Gross Unrecognized Tax Benefits (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	$ 19,052	$ 18,456	$ 14,401
Increases related to prior year positions	3,522	0	5,027
Decreases related to prior year positions	0	(2,837)	0
Increases related to current year positions	13,548	7,083	2,631
Decreases related to lapse of statutes	(242)	(758)	(172)
Decreases related to settlements	0	(2,892)	(3,431)
Balance at end of year	$ 35,880	$ 19,052	$ 18,456