Income Taxes - Reconciliation of Beginning and Ending Amount of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Reconciliation of Unrecognized Tax Benefits
Balance of unrecognized tax benefits at beginning of year	$ 24,510	$ 24,310	$ 29,000
Increases for tax positions of prior years	2,349	1,533	4,219
Decreases for tax positions of prior years	(3,659)	(65)	0
Increases for tax positions established for the current period	9,320	2,272	3,912
Decreases for settlements with taxing authorities	(63)	(620)	(285)
Reductions resulting from lapse of applicable statute of limitation	(5,833)	(2,876)	(12,630)
Adjustment resulting from foreign currency translation	(216)	(44)	94
Balance of unrecognized tax benefits at end of year	$ 26,408	$ 24,510	$ 24,310