Long-term Debt - Credit Agreement (Details) $ in Thousands	3 Months Ended	12 Months Ended
	Dec. 31, 2023 USD ($)	Dec. 31, 2023 USD ($)	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)
Debt Instrument [Line Items]
Net leverage ratio	3.00	3.00
Debt financing and related expenses		$ 0	$ 0	$ (10,520)
Line of credit, borrowing capacity considering covenant restrictions	$ 256,900	256,900
Revolving Credit Facility [Member]
Debt Instrument [Line Items]
Incremental debt commitments capacity	200,000	200,000
Revolving Credit Facility [Member]
Debt Instrument [Line Items]
Line of Credit Facility, Maximum Borrowing Capacity	$ 300,000	$ 300,000
Debt Instrument, Maturity Date		Mar. 29, 2026
Payments of Financing Costs				1,100
Write off of Deferred Debt Issuance Cost				$ 200
Revolving Credit Facility [Member] | Geographic Distribution, Foreign
Debt Instrument [Line Items]
Debt Instrument, Basis Spread on Variable Rate	1.625%
Revolving Credit Facility [Member] | Geographic Distribution, Domestic
Debt Instrument [Line Items]
Debt Instrument, Basis Spread on Variable Rate	1.725%
Revolving Credit Facility [Member]
Debt Instrument [Line Items]
Line of Credit Facility, Capacity Available for Specific Purpose Other than for Trade Purchases	$ 125,000	$ 125,000
Revolving Credit Facility, Amount Outstanding	0	0	0
Revolving Credit Facility, Remaining Borrowing Capacity	294,000	294,000	293,900
Letters of credit [Member]
Debt Instrument [Line Items]
Line of Credit Facility, Maximum Borrowing Capacity	40,000	40,000
Letters of Credit Outstanding, Amount	$ 6,000	$ 6,000	$ 6,100