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Stockholders' Equity - Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Stockholders' equity | $ (689,558) | $ (695,826) | $ (757,631) | $ (1,223,967)
Release of currency translation adjustments on liquidation of an international operation | 0 | 9,320 | 0 |
Currency translation adjustments | (12,977) | (4,044) | (3,750) |
Total other comprehensive income (loss) | $ (12,910) | $ 5,354 | (3,639) |
United Kingdom, Pounds |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Exchange rate strengthened (weakened) | (11.00%) | (1.00%) |  |
Brazil, Brazil Real |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Exchange rate strengthened (weakened) | 6.00% | (7.00%) |  |
Accumulated Other Comprehensive Loss |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Stockholders' equity | $ 78,941 | $ 66,031 | $ 71,385 | $ 67,746
Release of currency translation adjustments on liquidation of an international operation |  | $ 9,320 |  |

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