Income Taxes, Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of change in liability for unrecognized tax benefits [Roll Forward]
Balance at beginning of year	$ 3,761	$ 7,445
Increases for tax positions taken in the current year	800	715
Decreases related to settlements with tax authorities	(209)	(3,643)
Decreases as a result of lapse of the applicable statutes of limitations	(338)	(367)
Foreign currency exchange rate changes	(75)	(389)
Balance at the end of year	3,939	3,761
Income tax uncertainties [Abstract]
Unrecognized tax benefits that would impact the effective tax rate, if recognized	3,900
Income tax interest and penalties accrued	400	$ 400
Expected decrease in liability for unrecognized tax benefits in the next fiscal year	800
Unrecognized tax benefits that would impact the effective tax rate in the next fiscal year	$ 700