Income Taxes - Schedule of Reconciliation of Beginning and Ending Amount of Gross 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] | |||
| Gross unrecognized tax benefits | $ 14,698 | $ 14,796 | $ 7,391 |
| Increases related to prior year tax positions | 409 | 422 | 999 |
| Increases related to current year tax positions | 746 | 2,444 | 6,911 |
| Lapse of statute of limitations | (576) | (1,804) | (505) |
| Decreases related to prior year tax positions | (1,080) | (1,160) | |
| Gross unrecognized tax benefits | $ 14,197 | $ 14,698 | $ 14,796 |