Leases - Schedule of Lease Costs and Other Lease Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Lease Expense
Operating lease expense	$ 5,000	$ 5,935	$ 6,438
Finance lease expense:
Amortization of ROU assets	207	199	174
Interest on lease liabilities	104	112	110
Total	5,311	6,246	6,722
Operating cash flows from operating leases	4,466	5,263	6,298
Operating cash flows from finance leases	104	112	110
Financing cash flows from finance leases	$ 214	$ 195	$ 187