Income Taxes - Effective Income Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Statutory federal rate	21.00%	21.00%	21.00%
Computed federal income tax expense (benefit) at applicable statutory rate of 21%	$ 23,539	$ 17,352	$ 11,323
State income tax expense (benefit)	1,627	35	(283)
Tax credits	(2,412)	(1,978)	(2,507)
Tax effect of international items	(3,994)	(10,698)	(281)
Uncertain tax positions	4	(47)	401
Deferred compensation insurance assets	(548)	706	(413)
Stock-based compensation	(3,001)	(3,423)	(5,571)
Valuation allowance	(90)	3,523
Remeasurement of state deferred taxes	(73)	(375)	(526)
Non-deductible expenses	2,101	2,027	2,455
Remeasurement of contingent consideration liabilities	317	1,061	733
Other - including the effect of graduated rates	208	(70)	132
Total income tax expense	$ 17,678	$ 8,113	$ 5,463