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Goodwill and Intangible Assets - Intangible Assets Summary (Details) - USD ($)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Finite-Lived Intangible Assets [Line Items]      
Gross Carrying Value $ 378,658,000 $ 376,600,000  
Accumulated Amortization (259,971,000) (233,307,000)  
Net Book Value 118,687,000 143,293,000  
Amortization of acquired intangible assets 24,257,000 23,509,000 $ 27,775,000
impairment of intangible assets 0 0  
Customer relationships      
Finite-Lived Intangible Assets [Line Items]      
Gross Carrying Value 309,773,000 309,773,000  
Accumulated Amortization (214,416,000) (194,858,000)  
Net Book Value $ 95,357,000 114,915,000  
Weighted Average Useful Lives 12 years 9 months 18 days    
Trade names      
Finite-Lived Intangible Assets [Line Items]      
Gross Carrying Value $ 44,086,000 44,086,000  
Accumulated Amortization (28,524,000) (24,126,000)  
Net Book Value $ 15,562,000 19,960,000  
Weighted Average Useful Lives 14 years 7 months 6 days    
Patents      
Finite-Lived Intangible Assets [Line Items]      
Gross Carrying Value $ 3,000,000 3,000,000  
Accumulated Amortization (2,455,000) (2,182,000)  
Net Book Value $ 545,000 818,000  
Weighted Average Useful Lives 11 years    
Software licenses      
Finite-Lived Intangible Assets [Line Items]      
Gross Carrying Value $ 15,835,000 13,777,000  
Accumulated Amortization (8,697,000) (6,291,000)  
Net Book Value $ 7,138,000 7,486,000  
Weighted Average Useful Lives 4 years 3 months 18 days    
Other      
Finite-Lived Intangible Assets [Line Items]      
Gross Carrying Value $ 5,964,000 5,964,000  
Accumulated Amortization (5,879,000) (5,850,000)  
Net Book Value $ 85,000 $ 114,000  
Weighted Average Useful Lives 5 years