Income Taxes - Change in Gross Unrecognized Income (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Summary of gross unrecognized income tax benefits
Unrecognized tax benefits at beginning of period	$ 13,954	$ 17,160	$ 17,513
Gross increases – tax positions in current period	166	441	884
Gross decreases – tax positions in prior period	(575)	(244)	(298)
Gross decreases – settlements with taxing authorities	(1,952)	(2,770)	0
Lapse of Statute of Limitations	(96)	(633)	(939)
Unrecognized tax benefits at end of period	$ 11,497	$ 13,954	$ 17,160