Treasury Stock - Repurchased Shares of Common Stock (Details) - USD ($) shares in Thousands, $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Equity, Class of Treasury Stock [Line Items]
Number of shares repurchased (in shares)	53	225
Total cost of shares repurchased	$ 812	$ 7,354
Open market shares repurchased
Equity, Class of Treasury Stock [Line Items]
Number of shares repurchased (in shares)	0	175
Total cost of shares repurchased	$ 0	$ 5,721
Stock-based compensation related shares repurchased
Equity, Class of Treasury Stock [Line Items]
Number of shares repurchased (in shares)	53	50
Total cost of shares repurchased	$ 812	$ 1,633