Reconciliation of Total Amounts of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Beginning balance of unrecognized tax benefits	$ 4,249	$ 4,797	$ 5,258
Additions based on tax positions related to the current year	561	553	1,162
Additions for tax positions of prior years	47	34	9
Reductions to tax positions of prior years	(22)	(563)	(41)
Reductions to tax positions resulting from a lapse of the applicable statute of limitations	(492)	(572)	(1,591)
Ending balance of unrecognized tax benefits	$ 4,343	$ 4,249	$ 4,797