Schedule II - Valuation and qualifying accounts (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Allowance for Doubtful Accounts
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Balance at Beginning of Year	$ (6,767)	$ (5,313)	$ (3,108)
Additions Charged to Costs and Expenses	(1,858)	(2,678)	(3,115)
Deduction	202	1,224	910
Balance at End of Year	(8,423)	(6,767)	(5,313)
Tax Valuation Allowance
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Balance at Beginning of Year	(10,786)	(10,213)	(4,644)
Additions Charged to Costs and Expenses	(2,741)	(573)	(5,569)
Balance at End of Year	$ (13,527)	$ (10,786)	$ (10,213)