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Income Taxes - Income Tax Reconciliation (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Income Tax Disclosure [Abstract] |  |  |
Income tax expense at statutory rates | $ 28,205 | $ 22,995 | $ 16,749
Increase (reduction) from: |  |  |
Jurisdictional rate differences | 1,989 | 1,599 | 1,034
Executive compensation limitation | 481 | 1,314 | 170
Stock based compensation | 122 | (322) | (366)
U.S. state taxes | 2,632 | 3,724 | 2,556
Foreign tax expense | 267 | 0 | 704
R&D credit | (1,645) | (670) | (415)
GILTI | 500 | 0 | 50
Previously unrecognized tax (benefit)/expense | 51 | 8 | 2,219
Other, net | (220) | 605 | (748)
Provision for income taxes | $ 32,382 | $ 29,253 | $ 21,953
Effective tax rate | 24.00% | 27.00% | 28.00%

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- Definition Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to foreign income tax expense (benefit). + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 12 -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32687-109319 + Details
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