Income Taxes - Unrecognized tax benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Taxes
Recognized tax benefit	$ 800	$ 800	$ 700
Unrecognized tax benefits	2,163	2,077	1,836
Accrued interest and penalties on unrecognized tax benefits	2,000	2,400	2,100
Interest and penalties recorded on unrecognized tax benefits	(400)	(300)	(0)
Reconciliation of total amounts of unrecognized tax benefits
Balance at beginning of the period	2,077	1,836	4,314
Gross increases - tax positions in current period	106	460	151
Settlement		(90)
Balance at end of the period	2,163	2,077	1,836
Deferred taxes provided for withholding or other taxes for repatriation of foreign earnings	0
Undistributed earnings from foreign subsidiaries	153,400
Foreign withholding taxes on the undistributed earnings	7,900	7,100
Undistributed foreign earnings	800	1,100	300
Prior tax period 1
Reconciliation of total amounts of unrecognized tax benefits
Gross increases - tax positions in prior period			(21)
Prior tax period 2
Reconciliation of total amounts of unrecognized tax benefits
Gross decreases - tax positions in prior period	$ (20)	$ (129)	$ (2,608)