Leases - Supplemental Balance Sheet Information (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Operating Leases
Other non-current assets	$ 17,249	$ 16,744
Accrued liabilities	4,685	4,655
Other long-term liabilities	12,849	12,237
Total operating lease liabilities	$ 17,534	$ 16,892
Operating Lease, Right-of-Use Asset, Statement of Financial Position [Extensible Enumeration]	Other non-current assets	Other non-current assets
Operating Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration]	Accrued liabilities	Accrued liabilities
Operating Lease, Liability, Noncurrent, Statement of Financial Position [Extensible Enumeration]	Other long-term liabilities	Other long-term liabilities
Operating leases, weighted average remaining lease term	4 years 7 months 28 days	5 years 1 month 20 days
Operating leases, weighted average remaining discount rate	3.30%	2.83%