Income Taxes - Change in the Balance of Gross 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 beginning of period	$ 8,961	$ 18,246	$ 16,775
Increases related to tax positions taken during a prior period	3	40	88
Decreases related to tax positions taken during the prior period	(59)	(8,908)	0
Increases related to tax positions taken during the current period	1,629	1,219	2,294
Decreases related to settlements	0	0	0
Decreases related to expiration of statute of limitations	(1,238)	(1,636)	(911)
Balance at end of period	$ 9,296	$ 8,961	$ 18,246