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Basis of Presentation, Summary of Significant Accounting Policies and Change in Accounting Principles - Restricted Cash and Restricted Investments (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Sep. 30, 2022
Restricted Cash and Cash Equivalents Items [Line Items]      
Total restricted cash and restricted investments $ 39,962 $ 26,958 $ 38,062
Current restricted cash 23,208 14,492  
Total current restricted cash and restricted investments 23,208 14,492  
Non-current restricted cash 16,754 12,466  
Total non-current restricted cash and restricted investments 16,754 12,466  
Collateral for letters of credit for facility leases      
Restricted Cash and Cash Equivalents Items [Line Items]      
Total restricted cash and restricted investments 2,132 2,269  
Collateral with financial institutions      
Restricted Cash and Cash Equivalents Items [Line Items]      
Total restricted cash and restricted investments 16,128 10,912  
Claims processing services      
Restricted Cash and Cash Equivalents Items [Line Items]      
Total restricted cash and restricted investments $ 21,702 $ 13,777