Income Taxes - Schedule of Reconciliation of Beginning and Ending Amount 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
Balance of unrecognized tax benefits at beginning of year	$ 26,408	$ 24,510	$ 24,310
Increases for tax positions of prior years	1,568	2,349	1,533
Decreases for tax positions of prior years	(6,560)	(3,659)	(65)
Increases for tax positions established for the current period	3,941	9,320	2,272
Decreases for settlements with taxing authorities	(532)	(63)	(620)
Reductions resulting from lapse of applicable statute of limitation	(4,005)	(5,833)	(2,876)
Adjustment resulting from foreign currency translation	69	(216)	(44)
Balance of unrecognized tax benefits at end of year	$ 20,889	$ 26,408	$ 24,510