Income Taxes - Schedule of Reconciliation of the Company's Liability for Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Reconciliation of liability for Unrecognized Tax Benefits
Unrecognized Tax Benefits at Beginning of Year	$ 4,015	$ 5,403	$ 6,120
Gross Increases, Related to Tax Positions Taken in a Prior Period	1	261	374
Gross Decreases, Related to Tax Positions Taken in a Prior Period	(26)	(1,285)
Gross Increases, Related to Current Period Tax Positions	226	234	222
Lapse of Statute of Limitations	(520)	(598)	(1,313)
Unrecognized Tax Benefits at End of Year	$ 3,696	$ 4,015	$ 5,403

A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

No definition available.

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- Definition

Amount of unrecognized tax benefits.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 45
-Paragraph 10B
-URI https://asc.fasb.org/extlink&oid=123427490&loc=SL37586934-109318

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 15A
-Subparagraph (a)
-URI https://asc.fasb.org/extlink&oid=121826272&loc=SL6600010-109319

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- Definition

Amount of decrease in unrecognized tax benefits resulting from tax positions taken in prior period tax returns.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 15A
-Subparagraph (a)(1)
-URI https://asc.fasb.org/extlink&oid=121826272&loc=SL6600010-109319

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- Definition

Amount of increase in unrecognized tax benefits resulting from tax positions that have been or will be taken in current period tax return.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 15A
-Subparagraph (a)(2)
-URI https://asc.fasb.org/extlink&oid=121826272&loc=SL6600010-109319

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Amount of increase in unrecognized tax benefits resulting from tax positions taken in prior period tax returns.

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Amount of decrease in unrecognized tax benefits resulting from lapses of applicable statutes of limitations.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
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-SubTopic 10
-Section 50
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-URI https://asc.fasb.org/extlink&oid=121826272&loc=SL6600010-109319

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