Employee Benefit Plans - Schedule of ESPP Activity (Details) - ESPP shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2023 USD ($) participant shares	Dec. 31, 2022 USD ($) participant shares	Dec. 31, 2021 USD ($) participant shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Approximate Number of Participants | participant	2,015	1,969	2,036
Shares Purchased (in shares) | shares	193	201	316
Aggregate Purchase Price | $	$ 18,759	$ 17,250	$ 17,224