Operating Leases - Components of Lease Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases [Abstract]
Operating lease expense	$ 16,545	$ 16,881	$ 17,757
Short-term lease expense	144	209	135
Variable lease expense	243	63	105
Sublease income	(403)	(508)	(320)
Total	$ 16,529	$ 16,645	$ 17,677