Income Taxes - Components of Income from Continuing Operations Before Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Taxes [Line Items]
Income before income tax expense	$ 264,053	$ 166,222	$ 112,588
United States Earnings
Income Taxes [Line Items]
Income before income tax expense	179,522	77,110	24,687
Foreign Earnings
Income Taxes [Line Items]
Income before income tax expense	$ 84,531	$ 89,112	$ 87,901