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Income Taxes - Summary of Changes in Deferred Tax Assets Valuation Allowance (Details) - Valuation Allowance, Deferred Tax Asset - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]        
Beginning Balance $ 99,600 $ 88,239 $ 88,953 $ 82,210
Charged (credited) to provision for income taxes 11,354 5,220 8,742  
Charged (credited) to other comprehensive income and other 7 (5,934) (1,999)  
Ending Balance $ 99,600 $ 88,239 $ 88,953