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Summary of Significant Accounting Policies - Allowance for Credit Losses on Premium Receivables (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
New Accounting Pronouncements or Change in Accounting Principle [Line Items]      
Beginning balance $ 6,000 $ 10,000 $ 1,445
Provision during the period for expected credit losses 4,213 (893) 10,294
Write-off amounts during the period (5,027) (3,693) (4,406)
Recoveries during the period of amounts previously written off 614 586 812
Ending balance 5,800 6,000 10,000
Cumulative Effect, Period of Adoption, Adjustment      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]      
Beginning balance 0 0 1,855
Ending balance   0 0
Cumulative Effect, Period of Adoption, Adjusted Balance      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]      
Beginning balance $ 6,000 10,000 3,300
Ending balance   $ 6,000 $ 10,000