Income Taxes - Changes in Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Reconciliation of unrecognized tax benefits
Balance of unrecognized tax benefits at January 1	$ 10,229	$ 9,592	$ 8,949
Gross additions for tax positions for prior years	139	0	0
Gross additions for tax positions for current year	2,844	795	724
Gross reductions for tax positions of prior years	(191)	(158)	(81)
Balance of unrecognized tax benefits at December 31	$ 13,021	$ 10,229	$ 9,592