Fair Value of Financial Instruments and Concentrations of Credit Risk - Allowances for Losses on Accounts Receivable (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Accounts Receivable, Allowance for Credit Loss [Roll Forward]
Balance at beginning of year	$ 4,587	$ 5,024	$ 6,007
Credit loss expense	1,039	664	1,427
Write-offs, net of recoveries	(809)	(1,101)	(3,369)
Balance at end of year	4,817	4,587	5,024
Cumulative effect of accounting change
Accounts Receivable, Allowance for Credit Loss [Roll Forward]
Balance at beginning of year	$ 0	0	959
Balance at end of year		$ 0	$ 0