Schedule II - Valuation and Qualifying Accounts and Reserves (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Allowance for Doubtful Accounts
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Beginning balance	$ 16,119	$ 17,336	$ 21,620
Additions charged to expenses and as a reduction to net sales	4,139	4,326	4,088
Deductions	(4,198)	(5,543)	(8,372)
Ending balance	16,060	16,119	17,336
Valuation Allowance for Deferred Tax Assets
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Beginning balance	3,428	4,372	5,325
Additions charged to expenses and as a reduction to net sales	702	0	0
Deductions credited to expense	0	(944)	(953)
Ending balance	$ 4,130	$ 3,428	$ 4,372