Income Taxes - Uncertain Tax Positions Reconciliation (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 January 1	$ 485	$ 213	$ 291
Additions (reductions) for tax positions of prior years	(8)	(6)	(6)
Additions (reductions) for tax positions of current year	0	306
Reductions for settlements with tax authorities	(93)	0	0
Reductions for lapse of statute of limitations	(66)	(28)	(72)
Balance at December 31	$ 318	$ 485	$ 213