Leases - Schedule of Operating Lease Cost, Lease Term and Discount Rate (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Lease expense:
Operating lease expense	$ 9,257	$ 11,002	$ 10,101
Sublease income	(1,004)	(1,308)	(1,047)
Total lease expense	8,253	9,694	9,054
Other information:
Cash paid for operating lease liabilities	12,678	12,886	10,743
Right of use assets obtained in exchange for operating lease liabilities for the years ended December 31, 2023, 2022 and 2021	$ 3,292	$ 917	$ 23,310
Weighted-average remaining lease term - operating leases (in years)	6 years 7 months 6 days	7 years 6 months	8 years 2 months 12 days
Weighted-average discount rate - operating leases	6.20%	5.20%	5.20%