Summary of Significant Accounting Policies - Allowance for Doubtful Accounts Receivable (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Allowance for Doubtful Accounts Receivable
Balance, beginning of year	$ 4,250	$ 3,628	$ 3,735
Additions to expense	1,295	1,102	1,481
Write-offs	(8)	(466)	(1,532)
Other	(9)	(14)	(56)
Balance, end of year	$ 5,528	$ 4,250	$ 3,628