Description of Business and Summary of Significant Accounting Policies - Schedule of Cash and Cash Equivalents (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Accounting Policies [Abstract]
Cash and cash equivalents	$ 110,637	$ 99,625	$ 105,035
Restricted cash	8,210	9,080	8,519
Restricted cash included in other long-term assets	6,112	6,059	6,659
Total cash, cash equivalents, and restricted cash shown in the consolidated statements of cash flows	$ 124,959	$ 114,764	$ 120,213	$ 111,369