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Accumulated Other Comprehensive Loss - Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Accumulated Other Comprehensive Income (Loss) [Line Items]            
Shareholders' equity $ 1,535,959 $ 1,480,295 $ 1,447,084 $ 1,619,841 $ 1,584,743 $ 1,577,611
Accumulated other comprehensive loss, net of tax            
Accumulated Other Comprehensive Income (Loss) [Line Items]            
Shareholders' equity (35,994) $ (32,210) (31,564) $ (36,459) $ (29,341) $ (19,032)
Cumulative translation adjustment            
Accumulated Other Comprehensive Income (Loss) [Line Items]            
Shareholders' equity (36,710)   (32,280)      
Unrecognized net gain on pension plans, net of tax of $(214) and $(214), respectively            
Accumulated Other Comprehensive Income (Loss) [Line Items]            
Shareholders' equity 716   716      
Unrecognized net gain on pension plan, tax $ (214)   $ (214)