Summary of Critical and Significant Accounting Policies - Cash, Cash Equivalents and Restricted Cash And Cash Equivalents (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Accounting Policies [Abstract]
Cash and cash equivalents-unrestricted	$ 33,295	$ 48,420	$ 73,629
Cash and cash equivalents-restricted	9,386	10,218	10,412
Total unrestricted and restricted cash and cash equivalents shown in the consolidated statements of cash flows	$ 42,681	$ 58,638	$ 84,041	$ 81,094