Other Assets - Loan to a Technology Partner (Details) - USD ($)	3 Months Ended								12 Months Ended
	Dec. 31, 2022	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Dec. 31, 2021	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Accounts, Notes, Loans and Financing Receivable [Line Items]
Total revenue	$ 208,139,000	$ 216,138,000	$ 212,845,000	$ 205,437,000	$ 195,290,000	$ 192,324,000	$ 188,857,000	$ 172,498,000	$ 842,559,000	$ 748,969,000	$ 618,003,000
Technology Partner | Notes Receivable
Accounts, Notes, Loans and Financing Receivable [Line Items]
Loan balance	$ 1,500,000		$ 1,500,000						1,500,000
Interest rate			6.50%
Total revenue									$ 0	$ 0	$ 0