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Debt - Additional information (Details)
3 Months Ended
Sep. 13, 2019
USD ($)
Mar. 31, 2023
USD ($)
equipment_note
Dec. 31, 2022
USD ($)
Revolving loans      
Debt Instrument [Line Items]      
Debt instrument term   5 years  
Secured debt | Credit agreement      
Debt Instrument [Line Items]      
Debt instrument term 5 years    
Maximum borrowing capacity $ 375,000,000    
Option to increase borrowing capacity $ 200,000,000    
Percentage of capital stock from direct foreign subsidiaries 65.00%    
Debt instrument covenant leveraged debt ratio restriction 2.50    
Debt instrument restricted maximum liquidity $ 50,000,000    
Weighted average interest rate   5.70%  
Leverage coverage ratio 3.0    
Interest coverage ratio 3.0    
Deferred debt issuance costs   $ 400,000  
Secured debt | Credit agreement | Minimum      
Debt Instrument [Line Items]      
Commitment fee on unused capacity 0.15%    
Secured debt | Credit agreement | Maximum      
Debt Instrument [Line Items]      
Commitment fee on unused capacity 0.25%    
Secured debt | Credit agreement | Base Rate | Minimum      
Debt Instrument [Line Items]      
Interest rate margin 0.00%    
Secured debt | Credit agreement | Base Rate | Maximum      
Debt Instrument [Line Items]      
Interest rate margin 0.75%    
Secured debt | Credit agreement | London Interbank Offered Rate (LIBOR) | Minimum      
Debt Instrument [Line Items]      
Interest rate margin 1.00%    
Secured debt | Credit agreement | London Interbank Offered Rate (LIBOR) | Maximum      
Debt Instrument [Line Items]      
Interest rate margin 1.75%    
Secured debt | Credit agreement | Letter of credit      
Debt Instrument [Line Items]      
Maximum borrowing capacity $ 150,000,000    
Secured debt | Credit agreement | Letter of credit | Insurance program obligations      
Debt Instrument [Line Items]      
Letters of credit outstanding   11,700,000 $ 12,800,000
Secured debt | Credit agreement | Revolving loans and letters of credit      
Debt Instrument [Line Items]      
Maximum borrowing capacity $ 75,000,000    
Secured debt | Credit agreement | Non-performance letters of credit | Minimum      
Debt Instrument [Line Items]      
Letter of credit facility commitment percentage 1.00%    
Secured debt | Credit agreement | Non-performance letters of credit | Maximum      
Debt Instrument [Line Items]      
Letter of credit facility commitment percentage 1.75%    
Secured debt | Credit agreement | Performance letters of credit | Minimum      
Debt Instrument [Line Items]      
Letter of credit facility commitment percentage 0.50%    
Secured debt | Credit agreement | Performance letters of credit | Maximum      
Debt Instrument [Line Items]      
Letter of credit facility commitment percentage 0.875%    
Secured debt | Credit agreement | Revolving loans      
Debt Instrument [Line Items]      
Debt outstanding under facility   $ 0 $ 12,900,000
Notes payable to banks | Master loan agreement      
Debt Instrument [Line Items]      
Number of equipment notes (equipment note) | equipment_note   2  
Notes payable to banks | Other equipment note      
Debt Instrument [Line Items]      
Debt instrument term   5 years  
Number of equipment notes (equipment note) | equipment_note   1