Summary of Significant Accounting Policies - Reconciliation of Cash and Restricted Cash (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Restricted Cash and Cash Equivalents Items [Line Items]
Cash and cash equivalents	$ 20,532	$ 97,825
Restricted cash	10,535	9,492
Total cash, cash equivalents and restricted cash shown in the consolidated statements of cash flows	31,067	107,317	$ 52,065	$ 122,255
Collateral for Outstanding Letters of Credit
Restricted Cash and Cash Equivalents Items [Line Items]
Restricted cash	892	0
Captive Insurance Subsidiary
Restricted Cash and Cash Equivalents Items [Line Items]
Restricted cash	9,643	$ 9,492
Initial Capitalization
Restricted Cash and Cash Equivalents Items [Line Items]
Restricted cash	$ 1,500