Description of Business and Summary of Significant Accounting Policies - Cash, Cash Equivalents, and Restricted Cash Shown in the Statement of Cash Flows (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022	Sep. 30, 2022	Dec. 31, 2021
Accounting Policies [Abstract]
Cash and cash equivalents	$ 71,162	$ 110,637	$ 70,977
Restricted cash	10,465	8,210	7,990
Restricted cash included in other long-term assets	5,469		5,016
Total cash, cash equivalents, and restricted cash shown in the condensed consolidated statement of cash flows	$ 87,096	$ 124,959	$ 83,983	$ 114,764