Schedule V - Valuation and Qualifying Accounts (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Movement in valuation and qualifying accounts
Balance at Beginning of Period	$ 1,808	$ 1,754	$ 578
Charged to Costs and Expenses	1,339	2,339	3,294
Deductions	1,701	2,285	2,118
Balance at End of Period	$ 1,446	$ 1,808	$ 1,754