Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Effective Income Tax Rate Reconciliation, at Federal Statutory Income Tax Rate, Percent	21.00%	21.00%	21.00%
Income Tax Uncertainties [Abstract]
Unrecognized Tax Benefits that Would Impact Effective Tax Rate	$ 4,400	$ 4,500
Unrecognized Tax Benefits, Period Increase (Decrease)	(200)	1,100
Unrecognized Tax Benefits, Income Tax Penalties and Interest Accrued	700	700
Unrecognized Tax Benefits, Income Tax Penalties and Interest Expense	0	100	$ 0
Decrease in Unrecognized Tax Benefits is Reasonably Possible	0
Increase in Unrecognized Tax Benefits is Reasonably Possible	1,000
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance beginning of period	5,744	4,671
Additions based on tax positions related to current year	345	1,921
Additions for tax positions of prior years	0	131
Reductions for tax positions of prior years	(176)	0
Reductions due to lapse of applicable statute of limitations	(391)	(771)
Settlements	0	(208)
Balance end of period	5,522	5,744	$ 4,671
Valuation Allowance [Abstract]
Valuation Allowance, Amount	$ 0	$ 0