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Income Taxes - Balances of Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]        
Unrecognized tax benefits $ 41,639 $ 37,737 $ 33,219 $ 40,878
Portion that, if recognized, would reduce tax expense and effective tax rate 39,247      
Accrued interest on unrecognized tax benefits 4,334      
Accrued penalties on unrecognized tax benefits 1,085      
Minimum        
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]        
Reasonably possible reduction to the balance of unrecognized tax benefits in succeeding 12 months 0      
Portion that, if recognized, would reduce tax expense and effective tax rate 0      
Maximum        
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]        
Reasonably possible reduction to the balance of unrecognized tax benefits in succeeding 12 months 12,122      
Portion that, if recognized, would reduce tax expense and effective tax rate $ 11,699