Costs Associated with Exit and Restructuring Activities - Schedule of Restructuring Liability Activities (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Restructuring and Related Activities [Abstract]
Restructuring liability	$ 962
Restructuring charges	1,912	$ 1,687	$ 1,830
Cost paid	(2,003)
Other activities	(2)
Restructuring liability	$ 869	$ 962