Income Taxes - Reconciliation of Beginning and Ending Amount of Consolidated Liability for Unrecognized Income 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 January 1	$ 3,928	$ 2,903	$ 2,832
Additions for tax positions related to current year	0	77	71
Additions for tax positions related to prior year	2,456	948	0
Balance at December 31	$ 6,384	$ 3,928	$ 2,903