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Stock-Based Compensation - Additional Information (Details)
12 Months Ended
Dec. 31, 2022
USD ($)
Plan
shares
Dec. 31, 2021
USD ($)
shares
Dec. 31, 2020
USD ($)
Share-based Compensation      
Number of equity based compensation plans | Plan 5    
Share-based compensation arrangement by share-based payment award, equity instruments other than options, vested in period, fair value $ 4,535 $ 7,063 $ 5,680
Other accrued liabilities 4,196,000 $ 6,811,000  
RSU      
Share-based Compensation      
Tax benefit from the issuance of stock $ 1,624,000    
Service-Based RSUs      
Share-based Compensation      
Vesting period 3 years    
Number of shares to be issued upon vesting of each option | shares 1    
Service-Based RSUs | Non-employee Directors      
Share-based Compensation      
Vesting period   1 year  
Performance-Based RSUs      
Share-based Compensation      
Share-based compensation arrangement by share-based payment award, award vesting rights three-year    
Performance-Based RSUs | Minimum      
Share-based Compensation      
Vesting percent 0.00%    
Performance-Based RSUs | Maximum      
Share-based Compensation      
Vesting percent 200.00%    
Cash Settled Awards      
Share-based Compensation      
Outstanding shares | shares 46,641 32,085  
Other accrued liabilities $ 566,000 $ 400,000