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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
Provision for credit losses      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of period $ 338 $ 132 $ 155
Charged to Costs & Expenses 74 48 20
Charged to Other Accounts- Describe 1 163 0
Deductions (42) (5) (43)
Balance at end of period 371 338 132
Valuation allowance for deferred tax assets      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of period 16,649 19,456 20,739
Charged to Costs & Expenses 3,267 (684) (941)
Charged to Other Accounts- Describe (14) (131) 26
Deductions (4,161) (1,992) (368)
Balance at end of period $ 15,741 $ 16,649 $ 19,456