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Income Taxes Income Tax - Unrecognized tax benefits additional information (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Taxes [Line Items]      
Unrecognized Tax Benefits that Would Impact Effective Tax Rate $ 53,400    
Unrecognized Tax Benefits, Income Tax Penalties and Interest Accrued 6,600 $ 4,200  
Unrecognized Tax Benefits, Income Tax Penalties and Interest Expense 2,500 $ 2,000 $ 1,000
Significant Change in Unrecognized Tax Benefits is Reasonably Possible, Amount of Unrecorded Benefit 1,900    
Undistributed Earnings of Foreign Subsidiaries 136,000    
withholding tax $ 16,100    
Domestic Tax Authority      
Income Taxes [Line Items]      
Open Tax Year 2019    
State and Local Jurisdiction      
Income Taxes [Line Items]      
Open Tax Year 2019    
Foreign Tax Authority      
Income Taxes [Line Items]      
Open Tax Year 2017