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Equity Awards - Stock-based compensation (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Schedule of stock-based compensation expense |  |  |
Stock-based compensation expense included in operating expense | $ 21,792 | $ 18,149 | $ 14,610
Tax benefit | 5,488 | 4,809 | 3,771
Stock-based compensation expense, net of tax | 16,304 | 13,340 | 10,839
Instructional and support costs |  |  |
Schedule of stock-based compensation expense |  |  |
Stock-based compensation expense included in operating expense | 7,026 | 5,317 | 5,111
General and administration |  |  |
Schedule of stock-based compensation expense |  |  |
Stock-based compensation expense included in operating expense | 14,766 | 13,535 | 9,499
Restructuring costs |  |  |
Schedule of stock-based compensation expense |  |  |
Stock-based compensation expense included in operating expense | $ 0 | $ (703) | $ 0

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