Costs Associated with Exit and Restructuring Activities - Schedule of Restructuring Liability Activities (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restructuring and Related Activities [Abstract]
Restructuring liability	$ 869
Restructuring charges	7,074	$ 1,912	$ 1,687
Cost paid	(6,056)
Other activities	(1,364)
Restructuring liability	$ 523	$ 869