Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Mar. 31, 2022	Dec. 31, 2021
Statement of Financial Position [Abstract]
Allowance for doubtful accounts	$ 27,713	$ 34,149
Allowance for credit losses, current	4,316	4,318
Accumulated depreciation and amortization, property, plant and equipment	242,375	232,492
Intangible assets, accumulated amortization	201,764	195,909
Allowance for credit losses, noncurrent	$ 12,500	$ 12,461
Common stock, par value (in usd per share)	$ 0.01	$ 0.01
Common stock, shares authorized (in shares)	160,000,000	160,000,000
Common stock, shares issued (in shares)	95,065,638	95,065,638
Common stock, shares outstanding (in shares)	55,770,322	55,609,226
Treasury stock, shares (in shares)	39,295,316	39,456,412