Income Taxes - Tax Contingency (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, beginning balance	$ 11,876	$ 11,147	$ 10,193
Changes for tax positions of prior years		(31)
Changes for tax positions of prior years	2,338		156
Increases for tax positions related to the current year	1,670	1,650	1,618
Settlements and lapsing of statutes of limitations	(2,450)	(890)	(820)
Unrecognized tax benefits, ending balance	$ 13,434	$ 11,876	$ 11,147