Income Taxes - Changes in Gross Liability for Unrecognized Tax Benefits Excluding Interest and Penalties (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Unrecognized tax benefits, beginning of period	$ 32,029	$ 44,856
Increase in unrecognized tax benefits for tax positions taken in a prior period	3,159	373
Decrease in unrecognized tax benefits for tax positions taken in a prior period	(10,444)	(8,885)
Increase in unrecognized tax benefits for tax positions taken in the current period	870	3,158
Statute lapses	0	(2,753)
Settlements with taxing authorities	(7,400)	(4,720)
Unrecognized tax benefits, end of period	$ 18,214	$ 32,029