Income Taxes - Additional Information (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Undistributed foreign earnings	$ 41,100
Undistributed foreign earnings deemed indefinitely reinvested	38,200
Valuation allowance	2,766	$ 2,766	$ 2,718	$ 2,484
NOL	15,700
Deferred tax assets, NOL state	3,300
Deferred tax assets, NOL foreign	2,300
Valuation allowance related to NOLs	13,100
Unrecognized tax benefits	5,250	3,721	$ 2,677
Unrecognized tax benefits that would impact effective income tax rate	4,800	3,700
Interest and penalties accrued	700	$ 200
Increase in unrecognized tax benefits that is reasonably possible	$ 500