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Change in Accounting Principle - Schedule of classification after the adoption of the change in accounting (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
New Accounting Pronouncements or Change in Accounting Principle [Line Items]    
Net sales $ 124,885 $ 149,593
Cost of sales 86,348 98,198
Gross profit 38,537 51,395
Operating expenses 35,272 36,646
Operating income 3,265 14,749
Classification after adoption of accounting change [Member]    
New Accounting Pronouncements or Change in Accounting Principle [Line Items]    
Net sales 124,885 149,593
Cost of sales (86,348) (98,198)
Gross profit 38,537 51,395
Operating expenses (35,272) (36,646)
Operating income 3,265 14,749
Historical classification [Member]    
New Accounting Pronouncements or Change in Accounting Principle [Line Items]    
Net sales 124,885 149,593
Cost of sales (77,093) (88,242)
Gross profit 47,792 61,351
Operating expenses (44,527) (46,602)
Operating income $ 3,265 $ 14,749