Income Taxes - Summary of Reconciliation of Gross Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Gross Unrecognized Tax Benefits
Beginning balance	$ 30,359	$ 30,359	$ 31,918
Settlements with taxing authorities	0	0	(1,559)
Ending balance	$ 30,359	$ 30,359	$ 30,359