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Income Taxes - Schedule of Gross Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Income Tax Disclosure [Abstract] |  |  |  |
Interest and penalties | $ 18,501 | $ 17,992 | $ 18,579 | $ 18,882
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward] |  |  |  |
Balance, January 1 (excluding interest and penalties of $17,992, $18,579 and $18,882, respectively) | 77,701 | 77,617 | 80,954 |
Increases in gross unrecognized tax benefits relating to tax positions taken during prior years | 615 | 341 | 273 |
Increases in gross unrecognized tax benefits relating to tax positions taken during current year | 18,604 | 19,193 | 17,829 |
Decreases in gross unrecognized tax benefits relating to tax positions taken during prior years | (836) | (2,052) | (5,774) |
Decreases in gross unrecognized tax benefits relating to settlements with tax authorities | (243) | (43) | (134) |
Decreases in gross unrecognized tax benefits relating to lapse of the applicable statute of limitations | (16,261) | (17,355) | (15,531) |
Balance, December 31 (excluding interest and penalties of $18,501, $17,992 and $18,579, respectively) | $ 79,580 | $ 77,701 | $ 77,617 |

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- Definition The amount of estimated penalties and interest accrued as of the balance sheet date arising from income tax examinations. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 15 -Subparagraph (c) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-15 + Details
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