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Income Taxes - Schedule of Additional Information Relating to 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]        
Unrecognized tax benefits at the end of the year that, if recognized, would favorably affect the effective tax rate (includes interest and penalties of $18,501, $17,992 and $18,579, respectively) $ 80,346 $ 80,094 $ 81,046  
Unrecognized tax benefits that, if recognized, would not affect the effective tax rate 17,735 15,599 15,150  
Interest and penalties recognized in current income tax expense (after giving effect to the reversal of interest and penalties of $5,528, $6,344 and $5,210, respectively) 509 (587) (303)  
Interest and penalties 18,501 17,992 18,579 $ 18,882
Reversal of interest and penalties $ 5,528 $ 6,344 $ 5,210