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Fair Value Measurements - Available for Sale Debt Securities and Financial Guarantee Roll Forward (Details) - Level 3 - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Debt Securities      
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]      
Beginning balance $ 1,122 $ 1,050 $ 5,528
Change in fair value (127) 72 434
Other-than-temporary impairment 0 0 (4,912)
Ending balance 995 1,122 1,050
Financial Guarantee      
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]      
Beginning balance $ 0 150 1,900
Change in fair value   0 (1,750)
Gain on cancellation of financial guarantee   (150) 0
Ending balance   $ 0 $ 150