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Income Taxes - Schedule of Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
--- | --- | --- | --- | ---
Deferred income tax assets: |  |  |  |
Net operating loss carryforwards | $ 409 | $ 1,116 |  |
Stock-based compensation | 3,892 | 3,471 |  |
Accrued expenses | 7,349 | 7,201 |  |
Tax credit carryforwards | 15,606 | 16,792 |  |
Capitalized development | 51,541 | 26,578 |  |
Operating lease liabilities | 3,358 | 4,471 |  |
Total deferred tax assets | 82,155 | 59,629 |  |
Less valuation allowance | (14,935) | (12,748) | $ 0 | $ 0
Net deferred tax assets | 67,220 | 46,881 |  |
Deferred tax liabilities: |  |  |  |
Property and equipment | (736) | (927) |  |
Operating lease right-of-use assets | (2,233) | (2,842) |  |
Intangible assets and goodwill | (4,635) | (2,006) |  |
Unremitted earnings of foreign subsidiaries | (776) | (348) |  |
Deferred commissions | (2,346) | (2,454) |  |
Other | (220) | 0 |  |
Total deferred tax liabilities | (10,946) | (8,577) |  |
Total net deferred tax assets | $ 56,274 | $ 38,304 |  |

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