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Schedule II - Valuation and Qualifying Accounts and Reserves (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Allowance for Credit Losses      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance, January 1 $ 1,648 $ 1,836 $ 3,215
Charged to Cost and Expenses 2,014 909 93
Deductions (1,140) (1,097) (1,472)
Balance, December 31 2,522 1,648 1,836
Deferred Tax Asset Valuation Allowance      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance, January 1 0 0 800
Charged to Cost and Expenses 0 0 0
Deductions 0 0 (800)
Balance, December 31 $ 0 $ 0 $ 0