Income Taxes - Schedule of Income (Loss) Before Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
United States	$ (31,534)	$ (45,390)	$ (34,930)
Foreign	112,754	129,732	80,337
Income before income taxes	$ 81,220	$ 84,342	$ 45,407