Income Taxes - Summary of Information Related to Interest and Penalties on Uncertain Tax Positions (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Accrued interest payable	$ 6,251	$ 4,767	$ 3,947
Accrued penalties	2,782	2,975	3,020
Interest expense	$ 1,483	$ 820	$ 974

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- Definition

Amount of expense for penalties related to a tax position claimed or expected to be claimed in the tax return.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 15
-Subparagraph (c)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482685/740-10-50-15

+ Details

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- Definition

Amount of interest expense accrued for an underpayment of income taxes.

+ References

+ Details

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- Definition

Amount of interest expense for an underpayment of income taxes.

+ References

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