Intangible Assets - Components of Intangible Assets (Parenthetical) (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2019	Dec. 31, 2022
Finite Lived Intangible Assets [Line Items]
Acquired intangible assets weighted average amortization period	15 years
Contingent milestone payments			$ 2,400
Customer Relationships
Finite Lived Intangible Assets [Line Items]
Acquired intangible assets weighted average amortization period	10 years
Acquired Technology
Finite Lived Intangible Assets [Line Items]
Acquired intangible assets weighted average amortization period	15 years	15 years
Contingent milestone payments			$ 2,400
Maximum | Customer Relationships
Finite Lived Intangible Assets [Line Items]
Intangible assets estimated useful life	20 years