Leases - Supplemental consolidated cash flow information (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Leases [Abstract]
Operating cash payments from operating leases	$ 3,346	$ 3,630	$ 3,835
ROU assets obtained in exchange for new operating lease liabilities	$ 1,172	$ 589	$ 3,549

Amount of cash outflow from operating lease to bring another asset to condition and location necessary for its intended use.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 842
-SubTopic 20
-Section 45
-Paragraph 5
-Subparagraph (c)
-URI https://asc.fasb.org/extlink&oid=123391704&loc=SL77918643-209977

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 842
-SubTopic 20
-Section 50
-Paragraph 4
-Subparagraph (g)(1)
-URI https://asc.fasb.org/extlink&oid=128292326&loc=SL77918686-209980

Name:	us-gaap_OperatingLeasePaymentsUse
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	duration