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Income Taxes - Uncertain Tax Positions (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Change in unrecognized tax benefits      
Balance at beginning of year $ 12,761 $ 12,363 $ 12,369
Additions for tax positions related to current year 4,180 2,642 1,217
Additions for tax positions relating to prior years   50 47
Reductions for tax positions relating to prior years (731) (1,196) (1,166)
Settlements (100) (1,098) (104)
Balance at end of year 16,110 12,761 $ 12,363
Unrecognized tax benefits that would impact effective tax rate if recognized 13,500    
Accrued interest and penalties $ 500 $ 400