Income Taxes - Uncertain Tax Positions Reconciliation (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	$ 318	$ 485	$ 213
Additions (reductions) for tax positions of prior years	3
Additions (reductions) for tax positions of prior years		(8)	(6)
Additions (reductions) for tax positions of current year	20	0	306
Reductions for settlements with tax authorities	0	(93)	0
Reductions for lapse of statute of limitations	(94)	(66)	(28)
Balance at December 31	$ 247	$ 318	$ 485