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Business Combinations - Summary of Allocation of Purchase Price to Estimated Fair Value of Assets Acquired and Liabilities Assumed (Details) - USD ($) $ in Thousands | Mar. 14, 2023 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
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Recognized amount of identifiable assets acquired and liabilities assumed: |  |  |  |
Goodwill |  | $ 536,351 | $ 515,631 | $ 515,258
Minerva acquisition |  |  |  |
Consideration |  |  |  |
Payments to acquire businesses, gross | $ 34,977 |  |  |
Estimated purchase price adjustment receivable | (365) |  |  |
Fair value of total consideration transferred | 34,612 |  |  |
Recognized amount of identifiable assets acquired and liabilities assumed: |  |  |  |
Cash and cash equivalents | 136 |  |  |
Other current assets | 1,792 |  |  |
Other assets | 43 |  |  |
Accounts payable and other current liabilities | (438) |  |  |
Other long-term liabilities | (441) |  |  |
Intangible asset | 12,800 |  |  |
Total identifiable net assets assumed | 13,892 |  |  |
Goodwill | 20,720 |  |  |
Total purchase price allocation | $ 34,612 |  |  |

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