Segment Reporting and Foreign Operations - Long-lived Assets by Geographic Area (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Revenues from External Customers and Long-Lived Assets [Line Items]
Long-lived assets	$ 383,523	$ 382,976	$ 371,658
United States
Revenues from External Customers and Long-Lived Assets [Line Items]
Long-lived assets	273,105	281,290	275,311
Ireland
Revenues from External Customers and Long-Lived Assets [Line Items]
Long-lived assets	42,333	40,749	39,863
Other foreign countries
Revenues from External Customers and Long-Lived Assets [Line Items]
Long-lived assets	$ 68,085	$ 60,937	$ 56,484