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Income Taxes - Components of Income from Continuing Operations Before Income Taxes (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Income Taxes [Line Items]      
Income before income tax expense $ 166,222 $ 112,588 $ 161,413
United States Earnings      
Income Taxes [Line Items]      
Income before income tax expense 77,110 24,687 64,810
Foreign Earnings      
Income Taxes [Line Items]      
Income before income tax expense $ 89,112 $ 87,901 $ 96,603