Income Taxes - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Valuation allowance	$ 45,704	$ 41,250	$ 37,143	$ 32,602
Increase in valuation allowance	4,500
Foreign earnings repatriated	2,100,000
Unrecognized tax benefits including accrued interest and penalties	39,100	38,300	23,100
Unrecognized tax benefits, income tax penalties and interest accrued	11,000	8,600	7,200
Income tax interest and penalties expense	2,400	$ 2,000	$ 500
Unrecognized tax benefits that, if recognized, would impact the effective income tax rate	36,000
Unrecognized tax benefits that may be recognized	$ 3,800