Income Taxes - Schedule of Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Net operating loss and tax credits carryforwards	$ 256,047	$ 246,405
Operating leases	132,648	135,365
Depreciation	50,444	45,702
Interest	26,711	25,029
Deferred compensation	13,767	23,219
Deferred revenue	9,942	11,432
Nondeductible reserves	7,342	9,470
Allowance for doubtful accounts	6,781	8,437
Total deferred tax assets	503,682	505,059
Deferred tax liabilities:
Operating leases	123,430	122,728
Investment in subsidiaries	77,055	74,310
Amortization of intangible assets	45,635	41,776
Deferred gain on Walden	452	14,652
Unrealized gain	3,212	2,559
Total deferred tax liabilities	249,784	256,025
Net deferred tax assets	253,898	249,034
Valuation allowance for deferred tax assets	(291,722)	(283,945)
Net deferred tax liabilities	$ (37,824)	$ (34,911)