Income Taxes - Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Income Tax Benefits
Balance at January 1,	$ 22,400	$ 25,104	$ 20,250
Additions based on income tax positions related to current year	719	649	3,754
Additions for income tax positions of prior years	186	247	1,379
Reductions for income tax positions of prior years	(122)	(1,215)	(200)
Statute of limitation expirations	(871)	(2,002)	(79)
Settlements	0	(383)	0
Balance at December 31,	22,312	22,400	25,104
Unrecognized tax benefits, income tax penalties and interest accrued	4,800	3,200	3,300
Unrecognized tax benefits that would impact effective tax rate	22,500	$ 20,900	$ 23,500
Approximate range of uncertain income tax positions expected to be settled or resolved during the next 12 months, minimum	$ 1,700