Summary of Significant Accounting Policies - Summary of Reconciliation of Cash, Cash Equivalents and Restricted Cash in Accompanying Condensed Consolidated Balance Sheets (Details) - USD ($) $ in Thousands	Dec. 31, 2022		Dec. 31, 2021		Dec. 31, 2020	[1]	Dec. 31, 2019
Accounting Policies [Abstract]
Cash and cash equivalents	$ 126,312		$ 154,703
Restricted cash included in other assets	$ 3,113		$ 3,101
Restricted Cash and Cash Equivalents, Noncurrent, Asset, Statement of Financial Position [Extensible List]	Other assets		Other assets
Cash and cash equivalents, restricted cash	$ 129,425	[1]	$ 157,804	[1]	$ 158,461		$ 114,657

[1] See Note 2, Summary of Significant Accounting Policies, for a reconciliation of the ending balance of cash, cash equivalents and restricted cash shown in these consolidated statements of cash flows.