Income Taxes - Unrecognized Tax Benefits (Details) - USD ($)		12 Months Ended
	Feb. 23, 2022	Dec. 31, 2022	Dec. 31, 2021
Unrecognized Tax Benefits
Proceeds from income tax refunds		$ 451,000	$ 9,846,000
Unrecognized Tax Benefits, Beginning Balance		2,350,000
Increase related to current year tax position		58,000
Decrease related to prior year tax position	$ (54,000)
Decrease related to settlements with tax authorities, net of federal benefit		(147,000)
Lapse of statue of limitations		(812,000)
Unrecognized Tax Benefits, Ending Balance		1,395,000	2,350,000
Unrecognized Tax Benefits, Decrease Resulting from Asset Basis Tax Position and Research and Development Credits, Recognized In Next Twelve Months		965,000
Unrecognized tax benefits expected to be recognized in next twelve months		89,000
Unrecognized tax benefits, accrued interest and penalties		$ 285,000	$ 289,000