Income Taxes - Reconciliation of Uncertain Tax Positions Excluding Accrued Interest (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]
Beginning balance - gross uncertain tax positions	$ 285	$ 1,254	$ 2,161
Increase as a result of tax positions taken in the current year	105	105	59
Increase as a result of tax positions taken in a prior year	0	0	0
Reduction as a result of the expiration of the applicable statute of limitations	(60)	(1,074)	(966)
Ending balance - gross uncertain tax positions	$ 330	$ 285	$ 1,254