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Income Taxes - Narrative (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
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Income Tax Disclosure [Abstract] |  |  |  |
Valuation allowance related to gross deferred tax assets | $ 3,464 | $ 5,924 |  |
Deferred tax assets, net operating loss carry forwards | 69,400 |  |  |
Unrecognized tax benefits | 1,940 | 1,648 | $ 1,331 | $ 1,277
Unrecognized tax benefits that would impact effective tax rate | $ 1,551 | $ 1,148 | $ 1,069 |

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- Definition Amount of deferred tax assets for which it is more likely than not that a tax benefit will not be realized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-2 + Details
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