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Summary of Significant Accounting Policies - Revenue - Amortization Expense Associated with Commissions Asset and Intake Costs (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Intake Costs asset |  |  |
Capitalized Contract Cost [Line Items] |  |  |
Amortization expense | $ 18,904 | $ 18,117 | $ 17,530
Commissions asset |  |  |
Capitalized Contract Cost [Line Items] |  |  |
Amortization expense | $ 43,413 | $ 40,612 | $ 30,739

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- Definition Amount of amortization expense for asset recognized from cost incurred to obtain or fulfill contract with customer. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 340 -SubTopic 40 -Name Accounting Standards Codification -Section 50 -Paragraph 3 -Subparagraph (b) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479483/340-40-50-3 + Details
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