Income Taxes - Unrecognized Tax Benefits Roll Forward (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Unrecognized tax benefits at beginning of year	$ 2,379	$ 3,318
Reductions based on prior year tax positions	(227)	0
Additions based on prior year tax provisions	296	593
Additions based on current year tax provisions	1,787	1,431
Reductions due to tax authorities’ settlements	0	(2,824)
Reductions due to expirations of statutes of limitation	(247)	(139)
Unrecognized tax benefits at end of year	$ 3,988	$ 2,379