Income Taxes - Reconciliation of Total Amounts of Gross Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance at beginning of period	$ 11,264	$ 9,785	$ 9,354
Gross increases—tax positions in prior years	1,528	3	220
Gross decreases—tax positions in prior years	(7)	0	0
Gross increases—tax positions in current year	1,533	3,370	1,678
Lapse of statute of limitations	(2,058)	(1,894)	(1,467)
Balance at end of period	$ 12,260	$ 11,264	$ 9,785