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Goodwill and Intangible Assets - Intangible Assets (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Intangible assets    
Average Remaining Amortization Period 10 years 3 months 18 days  
Gross Carrying Amount, Intangible assets $ 537,509 $ 508,969
Accumulated Amortization and Impairment, Intangible assets 493,564 485,082
Total Net Intangible Assets $ 43,945 23,887
Technology    
Intangible assets    
Average Remaining Amortization Period 11 years 10 months 24 days  
Gross Carrying Amount, Intangible assets $ 355,928 327,908
Accumulated Amortization and Impairment, Intangible assets 321,923 316,918
Total Net Intangible Assets $ 34,005 10,990
Customer relationship    
Intangible assets    
Average Remaining Amortization Period 5 years 3 months 18 days  
Gross Carrying Amount, Intangible assets $ 146,925 146,465
Accumulated Amortization and Impairment, Intangible assets 137,649 135,415
Total Net Intangible Assets $ 9,276 11,050
Trademarks and tradenames    
Intangible assets    
Average Remaining Amortization Period 7 months 6 days  
Gross Carrying Amount, Intangible assets $ 30,910 30,910
Accumulated Amortization and Impairment, Intangible assets 30,269 29,063
Total Net Intangible Assets $ 641 1,847
Other Intangible Assets    
Intangible assets    
Average Remaining Amortization Period 7 months 6 days  
Gross Carrying Amount, Intangible assets $ 3,746 3,686
Accumulated Amortization and Impairment, Intangible assets 3,723 $ 3,686
Total Net Intangible Assets $ 23