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Goodwill - Changes in Carrying Amount of Goodwill (Details) - USD ($)
$ in Thousands
 3 Months Ended 12 Months Ended
Dec. 31, 2023
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Changes in the carrying amount of goodwill        
Balance at the beginning of the period   $ 199,635 $ 205,439  
Foreign currency translation   1,518 (5,804)  
Goodwill, Impairment Loss $ (13,800) (13,799) 0 $ 0
Balance at the end of the period 187,354 187,354 199,635 205,439
North America        
Changes in the carrying amount of goodwill        
Balance at the beginning of the period   185,710 190,656  
Foreign currency translation   1,644 (4,946)  
Goodwill, Impairment Loss   0    
Balance at the end of the period 187,354 187,354 185,710 190,656
International        
Changes in the carrying amount of goodwill        
Balance at the beginning of the period   13,925 14,783  
Foreign currency translation   (126) (858)  
Goodwill, Impairment Loss   (13,799)    
Balance at the end of the period 0 0 13,925 14,783
Products and Systems        
Changes in the carrying amount of goodwill        
Balance at the beginning of the period   0 0  
Foreign currency translation   0 0  
Goodwill, Impairment Loss   0    
Balance at the end of the period $ 0 $ 0 $ 0 $ 0