Income Taxes - Schedule of Gross Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Interest and penalties	$ 18,501	$ 17,992	$ 18,579	$ 18,882
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance, January 1 (excluding interest and penalties of $17,992, $18,579 and $18,882, respectively)	77,701	77,617	80,954
Increases in gross unrecognized tax benefits relating to tax positions taken during prior years	615	341	273
Increases in gross unrecognized tax benefits relating to tax positions taken during current year	18,604	19,193	17,829
Decreases in gross unrecognized tax benefits relating to tax positions taken during prior years	(836)	(2,052)	(5,774)
Decreases in gross unrecognized tax benefits relating to settlements with tax authorities	(243)	(43)	(134)
Decreases in gross unrecognized tax benefits relating to lapse of the applicable statute of limitations	(16,261)	(17,355)	(15,531)
Balance, December 31 (excluding interest and penalties of $18,501, $17,992 and $18,579, respectively)	$ 79,580	$ 77,701	$ 77,617