Leases - Operating Lease Assets and Liabilities (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Lessee, Lease, Description [Line Items]
Operating lease right-of-use assets	$ 24,129	$ 23,006
Current portion of operating lease liabilities	21,778	22,045
Noncurrent portion of operating lease liabilities	3,583	3,173
Chartered In Contracts
Lessee, Lease, Description [Line Items]
Operating lease right-of-use assets	20,437	19,116
Current portion of operating lease liabilities	21,097	21,328
Noncurrent portion of operating lease liabilities	$ 572	$ 0
Weighted average remaining lease term (in years)	9 months 18 days	7 months 6 days
Weighted average discount rate	6.50%	6.00%
Office leases
Lessee, Lease, Description [Line Items]
Operating lease right-of-use assets	$ 3,692	$ 3,890
Current portion of operating lease liabilities	681	717
Noncurrent portion of operating lease liabilities	$ 3,011	$ 3,173
Weighted average remaining lease term (in years)	4 years 9 months 18 days	4 years 8 months 12 days
Weighted average discount rate	7.00%	6.90%