Income Taxes - Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Unrecognized tax benefits beginning balance	$ 48,389	$ 42,010	$ 37,753
Gross decrease for tax positions of prior year	(152)	(55)	0
Gross increase for tax positions of prior year	1,307	0	95
Gross increase for tax positions of current year	8,613	6,434	4,162
Unrecognized tax benefits end balance	$ 58,157	$ 48,389	$ 42,010