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Investments - Schedule of Investments (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Equity Method Investment Balances [Roll Forward]    
Investment in WMES joint ventures at beginning of the period $ 55,927 $ 53,275
Income (loss) from joint ventures (62) 800
Foreign currency translation adjustment (1,373) 398
Other comprehensive gain from joint ventures 1,697 1,454
Investment in WMES joint ventures at end of the period 56,189 55,927
WMES    
Equity Method Investment Balances [Roll Forward]    
Investment in WMES joint ventures at beginning of the period 39,069 37,365
Income (loss) from joint ventures 248 250
Foreign currency translation adjustment 0 0
Other comprehensive gain from joint ventures 1,697 1,454
Investment in WMES joint ventures at end of the period 41,014 39,069
CASC Willis    
Equity Method Investment Balances [Roll Forward]    
Investment in WMES joint ventures at beginning of the period 16,858 15,910
Income (loss) from joint ventures (310) 550
Foreign currency translation adjustment (1,373) 398
Other comprehensive gain from joint ventures 0 0
Investment in WMES joint ventures at end of the period $ 15,175 $ 16,858