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Schedule II - Valuation and Qualifying Accounts (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Valuation and Qualifying Accounts      
Balance at Beginning of Period $ 119,179 $ 130,655 $ 115,225
Charged (Credited) to Costs and Expenses   653 15,490
Deductions (2,389) (12,129) (60)
Balance at End of Period 116,790 119,179 130,655
Allowance for doubtful accounts      
Valuation and Qualifying Accounts      
Balance at Beginning of Period 736 602 270
Charged (Credited) to Costs and Expenses   140 392
Deductions   (6) (60)
Balance at End of Period 736 736 602
Valuation allowance in net deferred tax assets      
Valuation and Qualifying Accounts      
Balance at Beginning of Period 118,443 130,053 114,955
Charged (Credited) to Costs and Expenses   513 15,098
Deductions (2,389) (12,123)  
Balance at End of Period $ 116,054 $ 118,443 $ 130,053