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Income Taxes - Unrecognized Tax Benefits (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Income Taxes |  |  |
Unrecognized tax benefits at the beginning of year | $ 8,210,000 | $ 15,529,000 | $ 14,980,000
Gross increases - prior year tax positions | 191,000 | 343,000 | 549,000
Gross decreases - prior year tax positions | (7,747,000) | (7,662,000) |
Unrecognized tax benefits at end of year | 654,000 | 8,210,000 | 15,529,000
Interest and penalties in year-end balance |  | 607,000 | 976,000
Interest expense related to uncertain tax positions | $ 191,000 | $ 343,000 | $ 549,000

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- Definition Amount of expense for interest on an underpayment of income taxes and penalties related to a tax position claimed or expected to be claimed in the tax return. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -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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