Other Assets - Schedule of Other Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Deferred Costs, Capitalized, Prepaid, and Other Assets Disclosure [Abstract]
Prepaid expenses, net of current portion	$ 18,192	$ 19,852
Equity method investments	13,879	15,582	$ 15,795
Cloud computing arrangements	7,507	5,957
Other investments	3,396	3,576
Tuition receivable, net, non-current	2,673	2,466
Other	4,005	4,864
Other assets	$ 49,652	$ 52,297