Income Taxes - Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits [Roll Forward]
Balance at beginning of year	$ 9,004	$ 7,961	$ 6,468
Increase related to tax positions taken during the current year	231	1,549	1,376
Increase related to tax positions taken during a prior year	364	0	117
Reductions related to statute expiration	(1,191)	(284)	0
Reductions related to tax positions taken in a prior year	(3,897)	(222)	0
Balance at end of year	$ 4,511	$ 9,004	$ 7,961