Leases - Schedule of Components of Lease Cost (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases [Abstract]
Operating lease cost	$ 13,074	$ 12,506	$ 12,369
Variable lease cost	2,663	2,771	3,140
Total lease cost	$ 15,737	$ 15,277	$ 15,509