Income Taxes - Schedule of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Reconciliation of Unrecognized Tax Benefits [Roll Forward]
Balance at beginning of year	$ 2,697	$ 3,157	$ 1,497
Additions based on tax positions related to the current year	683	563	395
Additions for tax positions of prior years	47	436	1,556
Settlements for tax positions of prior years	(82)	(1,289)	0
Settlements or lapse of statute of limitations	(621)	(170)	(291)
Balance at end of year	$ 2,724	$ 2,697	$ 3,157