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Income Taxes - Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Activity related to unrecognized tax benefits      
Beginning balance $ 5,045 $ 5,045 $ 0
Additions for tax positions related to prior years 0 0 5,045
Settlements with taxing authorities (4,568) 0 0
Ending balance $ 477 $ 5,045 $ 5,045