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Goodwill and Intangible Assets - Intangible Assets Subject to Amortization (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Finite-Lived Intangible Assets [Line Items]    
Historical Cost $ 181,604 $ 179,291
Accumulated Amortization 163,830 166,813
Net $ 17,774 $ 12,478
Minimum    
Finite-Lived Intangible Assets [Line Items]    
Weighted-Average Remaining   Amortization Period 1 year  
Maximum    
Finite-Lived Intangible Assets [Line Items]    
Weighted-Average Remaining   Amortization Period 20 years  
Trade names    
Finite-Lived Intangible Assets [Line Items]    
Weighted-Average Remaining   Amortization Period 6 months 1 year 7 months 6 days
Historical Cost $ 8,151 $ 12,219
Accumulated Amortization 7,605 10,633
Net $ 546 $ 1,586
Patent and patent licenses    
Finite-Lived Intangible Assets [Line Items]    
Weighted-Average Remaining   Amortization Period 0 years 0 years
Historical Cost $ 54,341 $ 54,341
Accumulated Amortization 54,341 53,930
Net $ 0 $ 411
Customer relationships    
Finite-Lived Intangible Assets [Line Items]    
Weighted-Average Remaining   Amortization Period 3 years 1 month 6 days 4 years 3 months 18 days
Historical Cost $ 107,175 $ 99,571
Accumulated Amortization 92,573 90,050
Net $ 14,602 $ 9,521
Customer relationships | Minimum    
Finite-Lived Intangible Assets [Line Items]    
Weighted-Average Remaining   Amortization Period 4 years 4 years
Customer relationships | Maximum    
Finite-Lived Intangible Assets [Line Items]    
Weighted-Average Remaining   Amortization Period 5 years 5 years
Other purchased intangibles    
Finite-Lived Intangible Assets [Line Items]    
Weighted-Average Remaining   Amortization Period 2 years 3 years 9 months 18 days
Historical Cost $ 11,937 $ 13,160
Accumulated Amortization 9,311 12,200
Net $ 2,626 $ 960