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Schedule II - Valuation and qualifying accounts (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Allowance for Doubtful Accounts |  |  |
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |
Balance at Beginning of Year | $ (8,423) | $ (6,767) | $ (5,313)
Additions Charged to Costs and Expenses | (1,772) | (1,858) | (2,678)
Deduction | 1,172 | 202 | 1,224
Balance at End of Year | (9,023) | (8,423) | (6,767)
Tax Valuation Allowance |  |  |
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |
Balance at Beginning of Year | (13,527) | (10,786) | (10,213)
Additions Charged to Costs and Expenses | (213) | (2,741) | (573)
Balance at End of Year | $ (13,740) | $ (13,527) | $ (10,786)

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- Definition Amount of valuation and qualifying accounts and reserves. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 235 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 4 -Subparagraph (SX 210.12-09(Column B)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480678/235-10-S99-4 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 235 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 4 -Subparagraph (SX 210.12-09(Column E)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480678/235-10-S99-4 + Details
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- Definition Amount of increase in valuation and qualifying accounts and reserves from charge to cost and expense. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 235 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 4 -Subparagraph (SX 210.12-09(Column C)(1)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480678/235-10-S99-4 + Details
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- Definition Amount of decrease in valuation and qualifying accounts and reserves. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 235 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 4 -Subparagraph (SX 210.12-09(Column D)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480678/235-10-S99-4 + Details
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