Income Taxes - Narrative (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Valuation allowance related to gross deferred tax assets	$ 3,464	$ 5,924
Deferred tax assets, net operating loss carry forwards	69,400
Unrecognized tax benefits	1,940	1,648	$ 1,331	$ 1,277
Unrecognized tax benefits that would impact effective tax rate	$ 1,551	$ 1,148	$ 1,069