Income Taxes - Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance at January 1	$ 1,664	$ 1,873	$ 1,924
Additions based on tax positions related to the current year	1,924	53	273
Additions for tax positions of prior years	0	0	0
Lapse of statute of limitations	(1,160)	(262)	(324)
Balance at December 31	$ 2,428	$ 1,664	$ 1,873