Variable Interest Entity and Noncontrolling Interests - Redeemable noncontrolling interest (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Redeemable Noncontrolling Interest [Line Items]
Balance, beginning of year	$ 9,233	$ 58,548	$ 55,404
Impact of deconsolidation of Somers	0	(48,919)	0
Other	1,596	(396)	3,144
Balance, end of year	$ 10,829	$ 9,233	$ 58,548

As of the reporting date, the aggregate carrying amount of all noncontrolling interests which are redeemable by the (parent) entity (1) at a fixed or determinable price on a fixed or determinable date, (2) at the option of the holder of the noncontrolling interest, or (3) upon occurrence of an event that is not solely within the control of the (parent) entity. This item includes noncontrolling interest holder's ownership (or holders' ownership) regardless of the type of equity interest (common, preferred, other) including all potential organizational (legal) forms of the investee entity.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 480
-SubTopic 10
-Section S99
-Paragraph 3A
-Subparagraph (16)(c)
-URI https://asc.fasb.org/extlink&oid=122040564&loc=SL6540498-122764

Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 480
-SubTopic 10
-Section S99
-Paragraph 3A
-Subparagraph 15
-URI https://asc.fasb.org/extlink&oid=122040564&loc=SL6540498-122764

Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 480
-SubTopic 10
-Section S99
-Paragraph 3A
-Subparagraph (12)(c)
-URI https://asc.fasb.org/extlink&oid=122040564&loc=SL6540498-122764

Reference 4: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 480
-SubTopic 10
-Section S99
-Paragraph 3A
-Subparagraph 14
-URI https://asc.fasb.org/extlink&oid=122040564&loc=SL6540498-122764

Name:	us-gaap_RedeemableNoncontrollingInterestEquityCarryingAmount
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	instant