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Leases - Schedule of other information on leases (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Leases [Abstract]      
Weighted-average remaining lease term—finance leases 2 years 7 days 2 years 3 months 18 days 3 years 1 month 6 days
Weighted-average remaining lease term—operating leases 5 years 4 months 28 days 5 years 9 months 3 days 6 years 5 months 1 day
Weighted-average discount rate—finance leases 5.72% 5.70% 6.61%
Weighted-average discount rate—operating leases 7.80% 6.98% 7.28%
Operating cash flows from finance leases $ 1,532 $ 2,592 $ 2,898
Operating cash flows from operating leases 79,037 80,159 92,010
Financing cash flows from finance leases $ 12,810 $ 13,926 $ 10,567