Summary of Significant Accounting Policies - Revenue - Amortization Expense Associated with Commissions Asset and Intake Costs (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Intake Costs asset
Capitalized Contract Cost [Line Items]
Amortization expense	$ 18,904	$ 18,117	$ 17,530
Commissions asset
Capitalized Contract Cost [Line Items]
Amortization expense	$ 43,413	$ 40,612	$ 30,739