Leases - Schedule of Components of Lease Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Leases [Abstract]
Operating lease expense	$ 16,595	$ 17,253	$ 17,848
Short-term lease expense	1,784	1,990	1,801
Variable lease expense	1,414	1,462	1,442
Total lease expense	19,793	20,705	21,091
Cash paid for amounts included in the measurement of lease liabilities:
Operating cash flows from operating leases	16,598	16,367	17,049
Right-of-use assets obtained in exchange for new lease obligations:
Right of use assets obtained in exchange for new operating lease obligations	$ 5,520	$ 5,736	$ 5,654
Weighted-average remaining lease term - operating leases	6 years 10 months 17 days	7 years 7 months 13 days	8 years 8 months 8 days
Weighted-average discount rate - operating leases	4.62%	4.61%	4.70%