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Change in Accounting Principle - Classification after the adoption of the change in accounting (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
New Accounting Pronouncements or Change in Accounting Principle [Line Items]        
Net sales $ 149,516 $ 152,267 $ 407,191 $ 450,063
Cost of sales (106,432) (102,629) (282,662) (299,698)
Gross profit 43,084 49,638 124,529 150,365
Operating expenses (38,893) (38,394) (113,317) (113,559)
Operating income 4,191 11,244 11,212 36,806
Classification After Adoption Of Accounting Change [Member]        
New Accounting Pronouncements or Change in Accounting Principle [Line Items]        
Net sales 149,516 152,267 407,191 450,063
Cost of sales (106,432) (102,629) (282,662) (299,698)
Gross profit 43,084 49,638 124,529 150,365
Operating expenses (38,893) (38,394) (113,317) (113,559)
Operating income 4,191 11,244 11,212 36,806
Historical Classification [Member]        
New Accounting Pronouncements or Change in Accounting Principle [Line Items]        
Net sales 149,516 152,267 407,191 450,063
Cost of sales (91,938) (90,733) (249,294) (267,280)
Gross profit 57,578 61,534 157,897 182,783
Operating expenses (53,387) (50,290) (146,685) (145,977)
Operating income $ 4,191 $ 11,244 $ 11,212 $ 36,806