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Income Taxes Unrecognized Benefit (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Reconciliation of Unrecognized Tax Benefits [Roll Forward]      
Balance at beginning of year $ 1,673 $ 2,151 $ 2,517
Current period tax positions 112 120 95
Lapse of statute of limitations (557) (598) (461)
Balance at end of year 1,228 1,673 $ 2,151
Lapse of statute of limitations, approximate reversal next fiscal year 300    
Unrecognized tax benefits that would impact effective tax rate 200    
Interest and penalties in income tax expense related to unrecognized tax positions (121) (75)  
Income tax penalties and interest accrued $ 500 $ 600