Income Taxes - Changes in Amount of Unrecognized Tax Benefits (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]
Beginning balance	$ 2,151	$ 1,743	$ 104
Additions based on tax positions related to the current year	0	0	0
Additions for tax positions of prior years	0	408	1,743
Reductions for tax positions of prior years	(42)	0	(38)
Settlements	(305)	0	(66)
Ending Balance	$ 1,804	$ 2,151	$ 1,743