Income Taxes - Reconciliation of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Beginning balance	$ 22,756	$ 22,724	$ 23,320
Gross increases – current period tax positions	0	0	0
Gross decreases – current period tax positions	0	0	0
Gross increases – prior period tax positions	0	0	0
Gross decreases – prior period tax positions	(77)	(426)	(9)
Settlements with taxing authorities/lapse of statute of limitations	(242)	(60)	(69)
Reclassification of balances from (to) held for sale	0	518	(518)
Ending balance	$ 22,591	$ 22,756	$ 22,724