Income Taxes - Reconciliation of Total Amounts of 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 period	$ 12,260	$ 11,264	$ 9,785
Gross increases—tax positions in prior years	27	1,528	3
Gross decreases—tax positions in prior years	0	(7)	0
Gross increases—tax positions in current year	769	1,533	3,370
Lapse of statute of limitations	(1,923)	(2,058)	(1,894)
Balance at end of period	$ 11,133	$ 12,260	$ 11,264