Annual report pursuant to Section 13 and 15(d)

Income Taxes - Reconciliation of Unrecognized Tax Benefits (Details)

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Income Taxes - Reconciliation of Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]      
Balance at beginning of period $ 29,550 $ 31,619 $ 28,647
Additions based on tax positions related to the current year 58 252 3,911
Additions for tax positions of prior years 0 751 15
Reductions for tax positions of prior years (512) (3,072) (954)
Balance at end of period $ 29,096 $ 29,550 $ 31,619