Long-Term Debt and Loan Agreements - Additional Information (Details) - USD ($) $ in Thousands		1 Months Ended	3 Months Ended		6 Months Ended
	Mar. 12, 2021	Mar. 31, 2017	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022	Sep. 29, 2022	Mar. 31, 2021
Debt Instrument [Line Items]
Loan maturity period					2027-09
Long-term Debt			$ 79,000		$ 79,000		$ 94,000
Long-term Debt			52,986		52,986		93,962
Notes outstanding			78,975		78,975		93,962
Long-term debt - current portion			25,989		$ 25,989		0
Line of credit facility, interest rate description					Borrowings under the Loan Agreement bear interest at the Term SOFR, RFR, EURIBOR and CDOR-based borrowing rates. Amounts borrowed under the credit facility are secured by pledges of stock of certain of the Company’s foreign subsidiaries and guaranties of certain of its domestic subsidiaries.
Loan agreement amendment description					On September 29, 2022, the Company entered into a Seventh Amended and Restated Loan Agreement (the “Seventh Amendment”), which amended the Sixth Amended and Restated Loan Agreement (the "Sixth Amendment"), dated March 12, 2021. The Seventh Amendment, among other things, extended the maturity date to September 2027 from March 2024.
Senior Unsecured Notes [Member]
Debt Instrument [Line Items]
Notes outstanding			38,000		$ 38,000
Long-term debt - current portion			26,000		26,000
Senior Unsecured Notes [Member] | Minimum [Member]
Debt Instrument [Line Items]
Long-term Debt			$ 11,000		$ 11,000
Interest rate			5.25%		5.25%
Debt instrument maturity date					Jan. 15, 2024
Senior Unsecured Notes [Member] | Maximum [Member]
Debt Instrument [Line Items]
Long-term Debt			$ 15,000		$ 15,000
Interest rate			5.45%		5.45%
Debt instrument maturity date					Jan. 15, 2026
Loan Agreement [Member]
Debt Instrument [Line Items]
Maximum borrowing capacity on line of credit		$ 200,000							$ 250,000
Loan maturity period		2022-03			2024-03
Deferred financing fees			$ 1,200		$ 1,200		$ 1,400
Remaining amount available under the line of credit			203,300		203,300
Letters of credit			$ 5,700		$ 5,700
Debt weighted average interest rate1			6.75%	3.97%	6.59%	4.05%
Seventh and Sixth Amendment [Member]
Debt Instrument [Line Items]
Maximum borrowing capacity on line of credit			$ 250,000		$ 250,000
Loan maturity period	2024-03
Other Assets [Member]
Debt Instrument [Line Items]
Deferred financing fees								$ 900	$ 1,100