Income Taxes - Uncertain Tax Positions (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Change in uncertain tax positions
Gross unrecognized tax benefit at beginning of year	$ 2,552	$ 2,351	$ 1,969
Increase from tax positions in current year	267	201	396
Lapse of statute of limitations/expiration	(6)		(14)
Gross unrecognized tax benefit at end of year	$ 2,813	$ 2,552	$ 2,351