Income Taxes - Income Before Provision for Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Domestic	$ 5,371	$ 32,945	$ 61,822
Foreign	5,134	4,522	2,981
Income before income taxes	$ 10,505	$ 37,467	$ 64,803