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Goodwill - Narrative (Details) - USD ($)
$ in Thousands
 3 Months Ended 12 Months Ended
Dec. 31, 2023
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Goodwill        
Impairment charges $ 13,800 $ 13,799 $ 0 $ 0
Cumulative goodwill impairment 114,000 114,000    
North America        
Goodwill        
Cumulative goodwill impairment 57,200 57,200 57,200  
Products and Systems        
Goodwill        
Cumulative goodwill impairment 13,200 13,200 13,200  
International        
Goodwill        
Impairment charges   13,800    
Cumulative goodwill impairment $ 43,600 $ 43,600 $ 43,600