Stock-Based Compensation - Schedule of Information Related to Stock Option Plan (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Cash received from option exercises	$ 608	$ 89	$ 380
2005 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Intrinsic value of options exercised	113	231	370
Cash received from option exercises	128	64	63
Tax benefit realized from option exercised	2	27	17
2010 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Intrinsic value of options exercised	224	86	729
Cash received from option exercises	480	25	317
Tax benefit realized from option exercised	0	0	157
2010 Plan \| Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Tax (provision) benefit realized from awards vested	0	(85)	21
2021 Plan \| Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Tax (provision) benefit realized from awards vested	$ 12	$ 0	$ 0

Amount of tax benefit for recognition of expense of award under share-based payment arrangement.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (h)(1)(i)
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Amount of tax benefit from exercise of option under share-based payment arrangement.

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Amount of cash inflow from exercise of option under share-based payment arrangement.

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Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
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