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Income Taxes - Additional Information (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Income Taxes [Line Items]      
Effective income tax rate 23.90% 21.00% 26.30%
Deferred tax assets, valuation allowance $ 28,705 $ 27,348  
Deferred tax assets, increase in valuation allowance 1,400    
Net operating loss carryforwards 8,928 11,589  
Unrecognized tax benefits that would impact effective tax rate 21,800 19,500  
Unrecognized tax benefits, income tax penalties and interest expense 700 (900) $ 1,100
Unrecognized tax benefits, income tax penalties and interest accrued 4,100 $ 3,500 $ 4,400
Decrease in uncertain tax positions within twelve months 2,500    
U.S. States      
Income Taxes [Line Items]      
Net operating loss carryforwards 30,600    
Net operating loss carryforwards, not subject to expiration 20,100    
Foreign      
Income Taxes [Line Items]      
Net operating loss carryforwards 30,200    
Net operating loss carryforwards, not subject to expiration 19,300    
Foreign tax credit carryforwards 22,300    
Foreign tax credits, valuation allowance $ 22,300    
Foreign tax credits, expiration year 2029    
U.S. States and Foreign      
Income Taxes [Line Items]      
Net operating loss carryforwards, expiration description expire if not used between 2023 and 2043    
U.S. States and Foreign | Minimum      
Income Taxes [Line Items]      
Net operating loss carryforwards, expiration year 2023    
U.S. States and Foreign | Maximum      
Income Taxes [Line Items]      
Net operating loss carryforwards, expiration year 2043    
U.S. Federal      
Income Taxes [Line Items]      
Net operating loss carryforwards $ 400    
Net operating loss carryforwards, not subject to expiration $ 0    
U.S. Federal | Earliest Tax Year      
Income Taxes [Line Items]      
Open tax year 2019    
Tax Cuts and Jobs Act of 2017      
Income Taxes [Line Items]      
Tax credit use amortization term 5 years    
Additional cash tax liability $ 16,000    
Increase in deferred tax assets revenue and cost $ 16,000