Leases - Operating lease costs (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Lessee, Lease, Description [Line Items]
Total net operating lease costs	$ 3,297	$ 4,069	$ 4,554
Building rent
Lessee, Lease, Description [Line Items]
Total net operating lease costs	2,117	2,564	2,978
Automobile rentals
Lessee, Lease, Description [Line Items]
Total net operating lease costs	$ 1,180	$ 1,505	$ 1,576