SCHEDULE II - VALUATION AND QUALIFYING ACCOUNTS - Allowance for Credit Losses, Accounts Receivable (Details) - Allowance for credit losses deducted from accounts receivable in the balance sheet - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Balance at beginning of period	$ 2,854	$ 1,826	$ 1,701
Additions charged to cost and expenses	2,053	1,203	2,111
Deductions	(879)	(175)	(1,986)
Balance at end of period	$ 4,028	$ 2,854	$ 1,826

SCHEDULE II - VALUATION AND QUALIFYING ACCOUNTS - Allowance for Credit Losses, Accounts Receivable (Details) - Allowance for credit losses deducted from accounts receivable in the balance sheet - USD ($)
$ in Thousands

12 Months Ended

Dec. 31, 2023

Dec. 31, 2022

Dec. 31, 2021

SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]

Balance at beginning of period

$ 2,854

$ 1,826

$ 1,701

Additions charged to cost and expenses

2,053

1,203