Leases - Components of Lease Costs (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Operating and finance lease costs
Amortization of right-of-use assets	$ 5,516	$ 4,906
Interest expense	628	520	$ 639
Operating lease cost	6,564	6,638
Short-term lease cost	1,515	1,894
Sublease income	(353)	(265)
Total lease cost	$ 13,870	$ 13,693