Income Taxes - Changes in Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Changes in unrecognized tax benefits [Roll Forward]
Balance at beginning of period	$ 2,316	$ 2,129	$ 1,781
Change due to tax positions taken during the current year	1,333	653	412
Change due to tax positions taken during a prior year	(426)	(266)	107
Change due to the lapse of applicable statute of limitations during the current year	(359)	(200)	(171)
Balance at end of period	2,864	2,316	2,129
Accrued interest, net of federal benefit, at end of period	470	489	419
Unrecognized tax benefits that would impact the effective tax rate, if recognized, at end of period	$ 2,518	$ 1,948	$ 1,766