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Stockholders' Equity - Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Stockholders' equity $ 709,545 $ 689,558 $ 695,826 $ 757,631
Total other comprehensive income (loss) 8,957 (12,910) 5,354  
Currency translation adjustments $ 8,957 $ (12,977) (4,044)  
United Kingdom, Pounds        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Exchange rate strengthened (weakened) 6.00% (11.00%)    
Brazil, Brazil Real        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Exchange rate strengthened (weakened) 8.00% 6.00%    
Accumulated Other Comprehensive Loss        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Stockholders' equity $ (69,984) $ (78,941) $ (66,031) $ (71,385)