Income Taxes - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Tax Credit Carryforward [Line Items]
Excess tax benefit over compensation cost recognized, amount	$ 200	$ 200	$ 900
Operating loss carryforward not expected to be realized under ASC subtopic 740-10	2,500
Tax credit carryforwards	133	133
Tax credit carryforwards valuation allowance	7,464	7,548
Unrecognized tax benefits	4,493	$ 4,944	$ 4,435	$ 4,069
Unrecognized tax benefits that would impact effective tax rate	2,600
Decrease in unrecognized tax benefits is reasonably possible	800
Increase in income taxes payable	9,700
Federal
Tax Credit Carryforward [Line Items]
Net operating loss carryforwards	7,600
Tax credit carryforwards	100
State
Tax Credit Carryforward [Line Items]
Net operating loss carryforwards	16,500
Tax credit carryforwards	11,800
Tax credit carryforwards valuation allowance	$ 9,300