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Schedule II - Valuation and Qualifying Accounts (Details) - Allowance for credit losses - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Valuation And Qualifying Accounts Disclosure [Line Items]      
Balance at Beginning of Period $ 809 $ 1,155 $ 2,674
Charged to Cost and Expenses 397 189 63
Charged to Other Accounts 0 14 (1,454)
Deductions, Actual Charge-Offs (600) (549) (128)
Balance at End of Period $ 606 $ 809 $ 1,155