Income Taxes - Reconciliation of Statutory Federal Income Tax Rate (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Statutory federal income tax rate	21.00%	21.00%	21.00%
State income taxes, net of federal income tax benefit	0.30%	(0.30%)	4.10%
Goodwill impairment	(19.40%)	(21.40%)	0.00%
Divestiture of business	(2.50%)	(5.10%)	0.00%
Net foreign income tax	0.00%	0.20%	1.60%
Research and development credits	0.10%	0.10%	(0.40%)
Other, net	0.60%	(0.10%)	(1.10%)
Effective income tax rate	0.10%	(5.60%)	25.20%