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Income Taxes - Deferred income taxes (Details) - USD ($) $ in Thousands | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
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Income Tax Disclosure [Abstract] |  |  |  |
Accounts receivable allowance | $ 2,672 | $ 1,386 |  |
Accrued compensation | 11,256 | 16,182 |  |
Accrued pension liabilities | 1,878 | 0 |  |
Self-insured risks | 4,252 | 5,280 |  |
Deferred revenues | 5,114 | 5,045 |  |
Interest | 2,684 | 2,907 |  |
Tax credit carryforwards | 1,285 | 3,326 |  |
Loss carryforwards | 29,362 | 28,122 |  |
Lease liability | 27,445 | 28,547 |  |
Other | 1,755 | 2,218 |  |
Gross deferred income tax assets | 87,703 | 93,013 |  |
Unbilled revenues | 8,944 | 6,290 |  |
Accrued pension liabilities | 0 | 2,491 |  |
Repatriated earnings | 1,120 | 937 |  |
Depreciation and amortization | 19,042 | 27,593 |  |
Lease right-of-use asset | 23,687 | 24,958 |  |
Gross deferred income tax liabilities | 52,793 | 62,269 |  |
Net deferred income tax assets before valuation allowance | 34,910 | 30,744 |  |
Valuation allowance | (23,295) | (14,114) | $ (16,579) | $ (28,128)
Net deferred income tax assets | 11,615 | 16,630 |  |
Amounts recognized in the Consolidated Balance Sheets consist of: |  |  |  |
Deferred income tax assets | 19,573 | 21,266 |  |
Long-term deferred income tax liabilities included in "Other noncurrent liabilities" | (7,958) | (4,636) |  |
Net deferred income tax assets | $ 11,615 | $ 16,630 |  |

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