Leases - Components of Net Lease Cost (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Finance leases
Amortization of right-of-use assets	$ 1,479	$ 1,546	$ 1,856
Interest on lease liabilities	188	219	254
Operating lease cost	5,172	5,275	5,188
Short-term lease cost	389	463	423
Variable lease cost	1,150	1,234	1,286
Sublease income	(168)	(350)	(335)
Net lease cost	$ 8,210	$ 8,387	$ 8,672