Income Taxes - Reconciliation of Statutory Federal Income Tax Rate (Details)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Statutory federal income tax rate	21.00%	21.00%	21.00%
State income taxes, net of federal income tax benefit	(0.30%)	4.10%	5.80%
Goodwill impairment	(21.40%)	0.00%	0.00%
Tax law changes	0.00%	0.00%	(1.50%)
Divestiture of business	(5.10%)	0.00%	0.00%
Net foreign income tax	0.20%	1.60%	0.90%
Research and development credits	0.10%	(0.40%)	(0.60%)
Other, net	(0.10%)	(1.10%)	(0.30%)
Effective income tax rate	(5.60%)	25.20%	25.30%