Related Party Transactions - Cash compensation (Details) - USD ($)	3 Months Ended	6 Months Ended
Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Related party Transactions
Cash compensation	$ 4,437,000	$ 4,349,000	$ 9,250,000	$ 10,493,000
Selling, General, and Administrative Expenses, Related Party, Type [Extensible Enumeration]	Cash compensation	Cash compensation	Cash compensation	Cash compensation
Affiliated Entity \| Board of directors
Related party Transactions
Cash compensation	$ 68,000	$ 69,000	$ 136,000	$ 104,000

The aggregate total of expenses of managing and administering the affairs of an entity, including affiliates of the reporting entity, which are not directly or indirectly associated with the manufacture, sale or creation of a product or product line.

Name:	us-gaap_GeneralAndAdministrativeExpense
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration

- Definition

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 946
-SubTopic 220
-Name Accounting Standards Codification
-Section S99
-Paragraph 1
-Subparagraph (SX 210.6-07(2)(c)(2)(i))
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147483575/946-220-S99-1

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 946
-SubTopic 220
-Name Accounting Standards Codification
-Section S99
-Paragraph 1
-Subparagraph (SX 210.6-07(2)(c)(2)(ii))
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147483575/946-220-S99-1

Reference 3: http://www.xbrl.org/2003/role/disclosureRef
-Topic 946
-SubTopic 220
-Name Accounting Standards Codification
-Section S99
-Paragraph 1
-Subparagraph (SX 210.6-07(2)(g)(3))
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147483575/946-220-S99-1

+ Details

Name:	us-gaap_RelatedPartyTransactionLineItems
Namespace Prefix:	us-gaap_
Data Type:	xbrli:stringItemType
Balance Type:	na
Period Type:	duration

- Definition

Indicates type of related party for selling, general, and administrative expenses.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 850
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 3
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147483326/850-10-50-3

+ Details

Name:	us-gaap_SellingGeneralAndAdministrativeExpensesRelatedPartyTypeExtensibleEnumeration
Namespace Prefix:	us-gaap_
Data Type:	enum2:enumerationSetItemType
Balance Type:	na
Period Type:	duration

- Details

Name:	us-gaap_RelatedPartyTransactionsByRelatedPartyAxis=srt_AffiliatedEntityMember
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

- Details

Name:	srt_CounterpartyNameAxis=srt_DirectorMember
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type: