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Goodwill - Changes in Carrying Amount of Goodwill (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Changes in the carrying amount of goodwill    
Balance at the beginning of the period $ 205,439 $ 206,008
Adjustments to preliminary purchase price allocations   280
Foreign currency translation (5,804) (849)
Balance at the end of the period 199,635 205,439
Services    
Changes in the carrying amount of goodwill    
Balance at the beginning of the period 190,656 190,112
Adjustments to preliminary purchase price allocations   280
Foreign currency translation (4,946) 264
Balance at the end of the period 185,710 190,656
International    
Changes in the carrying amount of goodwill    
Balance at the beginning of the period 14,783 15,896
Adjustments to preliminary purchase price allocations   0
Foreign currency translation (858) (1,113)
Balance at the end of the period 13,925 14,783
Products and Systems    
Changes in the carrying amount of goodwill    
Balance at the beginning of the period 0 0
Adjustments to preliminary purchase price allocations   0
Foreign currency translation 0 0
Balance at the end of the period $ 0 $ 0