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Income Taxes - Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended |  |  |
--- | --- | --- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Income Taxes |  |  |  |
Cash associated with indefinitely reinvested foreign earnings | $ 15,300 |  |  |
Unrecognized tax benefits related to uncertain tax positions | 10,443 | $ 9,961 | $ 10,044 | $ 9,799
Deferred tax assets | 31,701 | $ 35,454 |  |
Decrease in deferred tax assets | 24,500 |  |  |
Increase in deferred tax asset | 18,100 |  |  |
Interest and penalty expense recognized related to unrecognized tax benefits | $ 1,800 |  |  |

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