Leases - Net Lease Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Net lease expense
Operating lease expense	$ 8,883	$ 9,432	$ 9,169
Short-term lease expense	26	246	397
Variable lease expense	2,135	2,204	2,353
Finance lease expense:
Amortization of right-of-use assets	1	3	3
Interest on lease liabilities			1
Total finance lease expense	1	3	4
Less: Sublease income	(637)	(744)	(1,222)
Net lease expense	$ 10,408	$ 11,141	$ 10,701