Commitments and Contingencies - Warranty Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Loss Contingencies [Line Items]
Other adjustments and expirations, net	$ 710	$ (882)	$ 551
Standard and Extended Product Warranty Accrual, Decrease for Payments	$ 11,187	$ 9,719	$ 13,593