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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 and returns |  |  |
Changes in Valuation and Qualifying Accounts |  |  |
Charged to Costs and Expenses | $ 1,117 |  |
Deductions | 657 |  |
Balance at End of Period | 460 |  |
Deferred tax valuation allowance |  |  |
Changes in Valuation and Qualifying Accounts |  |  |
Balance at Beginning of Period | 8,370 | $ 7,689 | $ 9,133
Charged to Costs and Expenses | 3,196 | 1,529 | 780
Deductions | 603 | 848 | 2,224
Balance at End of Period | $ 10,963 | $ 8,370 | $ 7,689

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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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