Reconciliation of Total Amounts of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Beginning balance of unrecognized tax benefits	$ 4,797	$ 5,258	$ 4,929
Additions based on tax positions related to the current year	553	1,162	476
Additions for tax positions of prior years	34	9	356
Reductions to tax positions of prior years	(563)	(41)	(5)
Reductions to tax positions resulting from a lapse of the applicable statute of limitations	(572)	(1,591)	(498)
Ending balance of unrecognized tax benefits	$ 4,249	$ 4,797	$ 5,258