Income Taxes - Reconciliation of Beginning and Ending Amount of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance at beginning of year	$ 19,501	$ 23,237	$ 21,461
Additions based on tax positions related to the current year	1,475	2,196	3,771
Additions for tax positions of prior years	89	156	3,480
Reductions for tax positions for prior years	(523)	(733)	(1,382)
Reduction for lapse in statute of limitations	(921)	(2,843)	(3,765)
Settlements	0	(2,512)	(328)
Balance at end of year	$ 19,621	$ 19,501	$ 23,237