CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Allowance for doubtful accounts	$ 24,558	$ 23,435
Allowance for credit losses, current	3,988	4,125
Accumulated depreciation and amortization, property, plant and equipment	266,825	253,323
Intangible assets, accumulated amortization	205,769	201,401
Allowance for credit losses, noncurrent	$ 6,370	$ 6,047
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)	51,174,432	52,200,903
Treasury stock, shares (in shares)	43,891,206	42,864,735