Lease Accounting - Components of lease expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Lessee, Lease, Description [Line Items]
Operating lease cost	$ 4,839	$ 4,598	$ 4,440
Short-term lease cost	175	404	346
Variable lease cost	778	738	1,389
Total lease costs	6,168	6,183	6,585
Cost of operations, exclusive of depreciation and amortization
Lessee, Lease, Description [Line Items]
Operating lease cost	3,349	3,074	2,874
Short-term lease cost	165	374	308
Variable lease cost	129	141	263
Selling, general, and administrative
Lessee, Lease, Description [Line Items]
Operating lease cost	1,490	1,524	1,566
Short-term lease cost	10	30	38
Variable lease cost	649	597	1,126
Depreciation and amortization
Lessee, Lease, Description [Line Items]
Amortization of lease assets	$ 376	$ 443	$ 410