Income Taxes - Changes in Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Changes in unrecognized tax benefits [Roll Forward]
Balance at beginning of period	$ 2,129	$ 1,781	$ 1,524
Change due to tax positions taken during the current year	653	412	353
Change due to tax positions taken during a prior year	(266)	107	79
Change due to the lapse of applicable statute of limitations during the current year	(200)	(171)	(175)
Balance at end of period	2,316	2,129	1,781
Accrued interest, net of federal benefit, at end of period	489	419	330
Unrecognized tax benefits that would impact the effective tax rate, if recognized, at end of period	$ 1,948	$ 1,766	$ 1,420