Leases - Supplemental Balance Sheet Information (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Leases [Abstract]
Right of use lease assets	$ 38,614	$ 43,766
Other accrued liabilities	11,965	12,024
Long-term lease liabilities	22,937	26,967
Total operating lease liabilities	$ 34,902	$ 38,991
Weighted average remaining lease term (years)	5 years 1 month 6 days	5 years 1 month 6 days
Weighted average discount rate	4.91%	4.36%
Operating Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration]	Other accrued liabilities	Other accrued liabilities