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Income Taxes - Valuation allowances, uncertain tax positions and accrued interest and penalties (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Change in reserve for uncertain tax benefits |  |  |
Reserve at beginning of year | $ 512 | $ 500 | $ 2,923
Increases related to prior year tax positions | 0 | 12 | 277
Decreases related to prior year tax positions | (512) | 0 | (37)
Settlement | 0 | 0 | (2,663)
Total | $ 0 | $ 512 | $ 500

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- Definition Amount of unrecognized tax benefits. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 45 -Paragraph 10B -URI https://asc.fasb.org/extlink&oid=123427490&loc=SL37586934-109318 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15A -Subparagraph (a) -URI https://asc.fasb.org/extlink&oid=121826272&loc=SL6600010-109319 + Details
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