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Schedule II - Valuation and Qualifying Accounts (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Valuation and Qualifying Accounts      
Balance at Beginning of Period $ 116,790 $ 119,179 $ 130,655
Charged (Credited) to Costs and Expenses (104,971)   653
Deductions   (2,389) (12,129)
Balance at End of Period 11,819 116,790 119,179
Allowance for doubtful accounts      
Valuation and Qualifying Accounts      
Balance at Beginning of Period 736 736 602
Charged (Credited) to Costs and Expenses     140
Deductions     (6)
Balance at End of Period 736 736 736
Valuation allowance in net deferred tax assets      
Valuation and Qualifying Accounts      
Balance at Beginning of Period 116,054 118,443 130,053
Charged (Credited) to Costs and Expenses (104,971)   513
Deductions   (2,389) (12,123)
Balance at End of Period $ 11,083 $ 116,054 $ 118,443