Income Taxes - Schedule of Effective Income Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Difference between income tax provision computed at the statutory Federal income tax rate and financial statement income tax
Provision at Federal rate of 21%	$ 12,764	$ 21,199	$ 17,925
State income taxes, net of Federal impact	2,079	4,882	3,430
Research and experimentation credits	(1,560)	(2,062)	(2,705)
Stock award vesting	(1,355)	(538)	(540)
Tax uncertainties	(227)	69	(403)
Section 162(m) compensation limitation	2,326	1,610	4,494
Foreign rate differential	571	592	462
Valuation allowance for deferred tax assets	638	1,427	1,002
Withholding tax	1,948	2,305	2,572
Other impact of foreign operations	422	(468)	621
Statutory rate change	303	(299)	71
Convertible debt premium	(1,017)	0	0
Other	(171)	(102)	(284)
Total income tax provision	$ 16,721	$ 28,615	$ 26,645