Schedule II - Valuation and qualifying accounts (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]
Balance at Beginning of Year	$ (8,423)	$ (6,767)	$ (5,313)
Additions Charged to Costs and Expenses	(1,772)	(1,858)	(2,678)
Deduction	1,172	202	1,224
Balance at End of Year	(9,023)	(8,423)	(6,767)
Tax Valuation Allowance
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Balance at Beginning of Year	(13,527)	(10,786)	(10,213)
Additions Charged to Costs and Expenses	(213)	(2,741)	(573)
Balance at End of Year	$ (13,740)	$ (13,527)	$ (10,786)