Leases - Lease Expense (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Leases [Abstract]
Amortization of right-of-use asset	$ 1,815	$ 1,710
Short-term lease cost	121	111
Variable lease cost	298	256
Gain on lease modifications and terminations	(72)	(18)
Interest on lease liabilities	6	9
Amortization of right-of-use asset	28	37
Sublease income	(281)	(195)
Total lease cost	$ 1,915	$ 1,910