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SCHEDULE II - VALUATION AND QUALIFYING ACCOUNTS (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Accounts receivable reserves:      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of period $ 1,443 $ 817 $ 1,289
Charged to costs and expenses 1,255 1,030 1,130
Write-offs (1,736) (404) (1,602)
Balance at end of period 962 1,443 817
Valuation allowance for deferred tax assets:      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of period 14,516 10,237 8,586
Net additions charged to income (expense) 4,975 4,768 2,174
Write-offs (995) (489) (523)
Balance at end of period $ 18,496 $ 14,516 $ 10,237