Income Taxes - Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance at January 1	$ 2,428	$ 1,664	$ 1,873
Additions based on tax positions related to the current year	723	1,924	53
Reductions for tax provisions of prior years	(177)	0	0
Lapse of statute of limitations	(451)	(1,160)	(262)
Balance at December 31	$ 2,523	$ 2,428	$ 1,664