Income Taxes - Change in the Balance of Gross 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 beginning of period	$ 9,296	$ 8,961	$ 18,246
Increases related to tax positions taken during a prior period	750	3	40
Decreases related to tax positions taken during the prior period	(161)	(59)	(8,908)
Increases related to tax positions taken during the current period	1,566	1,629	1,219
Decreases related to expiration of statute of limitations	(703)	(1,238)	(1,636)
Balance at end of period	$ 10,748	$ 9,296	$ 8,961

A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

No definition available.

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- Definition

Amount of unrecognized tax benefits.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 15A
-Subparagraph (a)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482685/740-10-50-15A

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 10B
-Publisher FASB
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- Definition

Amount of decrease in unrecognized tax benefits resulting from tax positions taken in prior period tax returns.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 15A
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-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482685/740-10-50-15A

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- Definition

Amount of increase in unrecognized tax benefits resulting from tax positions that have been or will be taken in current period tax return.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
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Amount of increase in unrecognized tax benefits resulting from tax positions taken in prior period tax returns.

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Amount of decrease in unrecognized tax benefits resulting from lapses of applicable statutes of limitations.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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