Income Taxes, Gross Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Gross Unrecognized Tax Benefits [Roll Forward]
Beginning balance of unrecognized tax benefits	$ 56,567	$ 55,085	$ 54,163
Decrease for lapse of statute of limitations	(14,993)	0	0
Decrease for prior period tax positions	(737)	(267)	(695)
Increase for prior period tax positions	429	259	263
Increase for current period tax positions	2,032	1,490	1,354
Ending balance of unrecognized tax benefits	43,298	56,567	55,085
Unrecognized tax benefits that could impact effective tax rate, if recognized	300	6,200	6,200
Decrease in unrecognized tax benefits that is reasonably possible	7,600
Interest and penalties on gross unrecognized tax benefits	$ 100	$ 800	$ 500