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Other Long-Term Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Other Long Term Liabilities [Line Items]        
Unrecognized tax benefits $ 1,480 $ 3,951 $ 5,908 $ 9,146
Other Noncurrent Liabilities        
Other Long Term Liabilities [Line Items]        
Unrecognized tax benefits 2,100 5,600    
Long-term notes payable $ 2,000 $ 2,700