Income Taxes - Reconciliation of Gross Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits [Roll Forward]
Gross unrecognized tax benefits balance	$ 4,977	$ 10,386	$ 13,616
Addition for tax positions of current year	1,076	958	4,092
Reduction for tax positions from prior years	(116)	(6,367)	(7,322)
Unrecognized Tax Benefits, Decrease Resulting from Settlements with Taxing Authorities	(3,156)
Unrecognized Tax Benefits, Reduction Resulting from Lapse of Applicable Statute of Limitations	(250)
Gross unrecognized tax benefits balance	$ 2,531	$ 4,977	$ 10,386