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Unaudited Consolidated Balance Sheets (Parenthetical) - USD ($)
$ in Thousands
Mar. 31, 2023
Dec. 31, 2022
Statement of Financial Position [Abstract]    
Accounts receivable allowance for credit loss $ 1,154 $ 1,143
Notes receivable, allowance for credit loss $ 0 $ 0
Temporary equity par value (USD per share) $ 0.001 $ 0.001
Temporary equity, shares authorized (in shares) 250,000 250,000
Temporary equity, shares issued (in shares) 225,000 225,000
Temporary equity, shares outstanding (in shares) 225,000 225,000
Preferred stock par value (USD per share) $ 0.001 $ 0.001
Preferred stock authorized (in shares) 100,000,000 100,000,000
Preferred stock shares issued (in shares) 0 0
Preferred stock, shares outstanding (in shares) 0 0
Common shares, par value (in dollars per share) $ 0.001 $ 0.001
Common shares authorized (in shares) 1,000,000,000 1,000,000,000
Common stock issued (in shares) 78,902,459 78,385,685
Common stock, shares outstanding (in shares) 76,404,628 76,044,629
Treasury stock (in shares) 2,497,831 2,341,056