Income Taxes - Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Reconciliation of unrecognized tax benefits
Balance at the beginning of the period	$ 1,168	$ 1,706	$ 1,757
Additions based on tax positions related to prior years	9	78	8
Reductions based on tax positions related to prior years	(47)	(7)	(30)
Additions for tax positions of the current year	3	48	167
Lapse of statute of limitations	(189)	(657)	(196)
Balance at the end of the period	944	1,168	1,706
Portion of uncertain tax benefit, if recognized, would reduce effective tax rate	300	300	200
Increase (decrease) in accrued interest as a result of the reversal of accrued interest associated with the lapse of statutes of limitations	(39)	(108)	(20)
Interest accrued on unrecognized tax benefits	$ 200	$ 300	$ 400