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SCHEDULE II - VALUATION AND QUALIFYING ACCOUNTS (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Accounts receivable reserves:      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of period $ 962 $ 1,443 $ 817
Charged to costs and expenses 412 1,255 1,030
Write-offs (316) (1,736) (404)
Balance at end of period 1,058 962 1,443
Valuation allowance for deferred tax assets:      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of period 18,496 14,516 10,237
Net additions charged to income (expense) 1,865 4,975 4,768
Write-offs 721 (995) (489)
Balance at end of period $ 21,082 $ 18,496 $ 14,516