Leases - Components of lease expense, and lease assets and liabilities (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Lease Cost:
Amortization of right-of-use assets (included in depreciation expense)	$ 96	$ 444
Interest on lease liabilities	29	192
Operating lease cost	17,485	16,155
Short-term lease cost	307	339
Variable lease cost	1,892	1,737
Total lease cost	19,809	18,867
Cash paid for amounts included in the measurement of lease liabilities
Operating cash flows used for finance lease	29	212
Operating cash flows used for operating leases	17,277	16,721
Financing cash flows used for finance lease	165	873	$ 1,351
Right-of-use assets obtained in exchange for new operating lease liabilities	11,694	32,811
Assets and Liabilities, Lessee [Abstract]
Finance lease right-of-use assets (included in other assets)	$ 664	$ 760
Finance Lease, Right-of-Use Asset, Statement of Financial Position [Extensible List]	Other assets, net	Other assets, net
Operating lease right-of-use assets	$ 93,081	$ 99,158
Finance lease liability, current (included in current installments of long-term debt)	$ 173	$ 165
Finance Lease, Liability, Current, Statement of Financial Position [Extensible List]	Current installments of long-term debt	Current installments of long-term debt
Finance lease liability, noncurrent (included in long-term debt)	$ 355	$ 529
Finance Lease, Liability, Noncurrent, Statement of Financial Position [Extensible List]	Long-term debt, less current installments	Long-term debt, less current installments
Operating lease liabilities, current (included in accrued liabilities)	$ 12,020	$ 13,465
Operating Lease, Liability, Current, Statement of Financial Position [Extensible List]	Accrued liabilities	Accrued liabilities
Operating lease liabilities, noncurrent	$ 86,687	$ 90,878
Weighted average remaining lease term – finance leases	2 years 10 months 24 days	3 years 10 months 24 days
Weighted average remaining lease term – operating leases	9 years 9 months 18 days	10 years
Weighted average discount rate – finance leases	4.80%	4.80%
Weighted average discount rate – operating leases	4.10%	4.10%