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Schedule II - Valuation and Qualifying Accounts (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Allowance for Doubtful Accounts      
Valuation And Qualifying Accounts Disclosure [Line Items]      
Balance at beginning of period $ 3,955 $ 4,001 $ 5,497
Additions 59 8 1,201
Deductions (3) (54) (2,697)
Balance at end of period 4,011 3,955 4,001
Valuation Allowance on Deferred Tax Assets      
Valuation And Qualifying Accounts Disclosure [Line Items]      
Balance at beginning of period 27,348 23,878 17,359
Additions 3,656 4,873 7,655
Deductions (2,180) (878) (596)
Other and foreign exchange impact (119) (525) (540)
Balance at end of period $ 28,705 $ 27,348 $ 23,878