Accumulated Other Comprehensive Income (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	$ (37,120)	$ (31,902)	$ (33,732)
Current-period other comprehensive income (loss) activity, tax	97	(60)	(898)
Other comprehensive income (loss)	(635)	(5,218)	1,830
Other comprehensive income (loss) before reclassifications, tax	97	(68)	(19)
Other comprehensive income (loss) before reclassifications, after tax	1,180	(4,798)	(1,076)
Amounts reclassified from AOCI, tax	0
Amounts reclassified from AOCI, after tax	1,815
Net current-period other comprehensive income (loss), after tax	(635)	(5,218)	1,830
Ending balance	(37,755)	(37,120)	(31,902)
Foreign currency translation gain (loss)	1,410	(8,156)	(1,135)
Interest Expense
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Amounts reclassified from AOCI, tax		8	(18)
Amounts reclassified from AOCI, after tax		420	(55)
Loss on Interest Rate Swap
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Amounts reclassified from AOCI, tax			(861)
Amounts reclassified from AOCI, after tax			(2,851)
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(40,172)	(32,016)	(30,881)
Current-period other comprehensive income (loss) activity, before tax	1,410	(8,156)	(1,135)
Ending balance	(38,762)	(40,172)	(32,016)
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member]
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	3,149	151	(3,712)
Current-period other comprehensive income (loss) activity, before tax	(2,142)	2,998	3,863
Amounts reclassified from AOCI, before tax	(1,815)
Ending balance	1,007	3,149	151
Other Comprehensive Income (Loss), before Reclassifications, before Tax	(327)	3,426	78
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member] | Interest Expense
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Amounts reclassified from AOCI, before tax		(428)	73
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member] | Loss on Interest Rate Swap
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Amounts reclassified from AOCI, before tax			3,712
Income taxes
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(97)	(37)	861
Ending balance	$ 0	$ (97)	$ (37)