Income Taxes - Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Reconciliation of the beginning and ending balance of unrecognized tax benefits
Balance at beginning of year	$ 9,961	$ 10,044	$ 9,799
Decrease in unrecognized tax benefits as a result of tax positions taken during a prior period	(122)	(546)	(502)
Decreases in unrecognized tax benefits related to settlements with tax authorities	(708)
Reductions to unrecognized tax benefits as a result of a lapse of the applicable statute of limitations		(472)
Increases in unrecognized tax benefits as a result of tax positions taken during the current period	1,312	935	747
Balance at end of year	10,443	9,961	10,044
Recorded as other long-term liability	7,190		472
Recorded as a decrease in deferred tax assets	$ 3,253	$ 9,961	$ 9,572