Variable Interest Entity and Noncontrolling Interests - Income or loss attributable to third party investors (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Noncontrolling Interest [Line Items]
Amounts attributable to non-redeemable noncontrolling interests	$ 0	$ (78,314)	$ (53,076)
Amounts attributable to redeemable noncontrolling interests	(5,490)	(4,299)	(7,114)
Net (income) loss attributable to noncontrolling interests	$ (5,490)	$ (82,613)	$ (60,190)