Leases - Lease Cost (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Lessee, Lease, Description [Line Items]
Operating lease expense	$ 8,314	$ 7,625	$ 8,732
Selling, general and administrative
Lessee, Lease, Description [Line Items]
Operating lease expense	8,314	6,248	7,974
Operating sublease income	$ 5,420	466
Research and development
Lessee, Lease, Description [Line Items]
Operating lease expense		$ 1,377	$ 758