Income Taxes - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Taxes
Cash associated with indefinitely reinvested foreign earnings	$ 15,300
Unrecognized tax benefits related to uncertain tax positions	10,443	$ 9,961	$ 10,044	$ 9,799
Deferred tax assets	31,701	$ 35,454
Decrease in deferred tax assets	24,500
Increase in deferred tax asset	18,100
Interest and penalty expense recognized related to unrecognized tax benefits	$ 1,800