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Income Taxes - Schedule of Reconciliation of the Company's Liability for Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Reconciliation of liability for Unrecognized Tax Benefits |  |  |
Unrecognized Tax Benefits at Beginning of Year | $ 3,696 | $ 4,015 | $ 5,403
Gross Increases, Related to Tax Positions Taken in a Prior Period | 54 | 1 | 261
Gross Decreases, Related to Tax Positions Taken in a Prior Period |  | (26) | (1,285)
Gross Increases, Related to Current Period Tax Positions | 27 | 226 | 234
Lapse of Statute of Limitations | (40) | (520) | (598)
Unrecognized Tax Benefits at End of Year | $ 3,737 | $ 3,696 | $ 4,015

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- Definition A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period. + References No definition available. + Details
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- Definition Amount of unrecognized tax benefits. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 15A -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-15A Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 45 -Paragraph 10B -Publisher FASB -URI https://asc.fasb.org//1943274/2147482525/740-10-45-10B + Details
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- Definition Amount of increase in unrecognized tax benefits resulting from tax positions that have been or will be taken in current period tax return. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 15A -Subparagraph (a)(2) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-15A + Details
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