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Schedule II - Valuation and Qualifying Accounts (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Allowance for Bad Debts      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of period $ 5,508 $ 4,528 $ 3,876
Charged to costs and expenses 1,525 1,400 2,305
Charged to other accounts 0 230 0
Deductions (999) (650) (1,653)
Balance at end of period 6,034 5,508 4,528
Sales Returns and Allowances      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of period 6,388 4,441 3,684
Charged to costs and expenses 1,533 2,923 1,261
Charged to other accounts 0 0 0
Deductions (1,275) (976) (504)
Balance at end of period 6,646 6,388 4,441
Deferred Tax Asset Valuation Allowance      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of period 543 786 2,721
Charged to costs and expenses 0 0 621
Charged to other accounts 0 1,571 0
Deductions (543) (1,814) (2,556)
Balance at end of period $ 0 $ 543 $ 786