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Summary of Significant Accounting Policies - Allowance for credit losses (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Allowance for credit loss roll forward      
Balance at beginning of period $ 3,749 $ 3,977  
Charged to selling, general and administrative expense 1,790 439 $ 4,452
Write-offs (2,516) (667)  
Total $ 3,023 $ 3,749 $ 3,977