Schedule II - Valuation and Qualifying Accounts - Allowance for Doubtful Accounts (Details) - Allowance for credit losses deducted from accounts receivable in the balance sheet - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Balance at beginning of period	$ 1,826	$ 1,701	$ 2,078
Additions charged to cost and expenses	1,203	2,111	2,825
Deductions	(175)	(1,986)	(3,202)
Balance at end of period	$ 2,854	$ 1,826	$ 1,701