Income Taxes - Schedule of Unrecognized Tax Benefits Rollforward (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]
Unrecognized tax benefits balance at January 1	$ 5,194	$ 11,154	$ 8,766
Additions for tax positions of current year	271	1,260	4,158
Additions for tax positions of prior years	0	807	0
Reductions for tax positions of prior year	(1,228)	(8,027)	(1,770)
Settlements of tax positions of prior years	0	0	0
Unrecognized tax benefits balance at December 31,	$ 4,237	$ 5,194	$ 11,154