Unaudited Condensed Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Allowance for doubtful accounts	$ 16,087	$ 16,184
Common stock, authorized (in shares)	36,000,000	36,000,000
Common stock, issued (in shares)	31,102,000	30,968,000
Common stock, outstanding (in shares)	31,102,000	30,968,000
Common stock, par value (in dollars per share)	$ 0.001	$ 0.001
Preferred stock, authorized (in shares)	25,000,000	25,000,000
Preferred stock, issued (in shares)	0	0
Preferred stock, outstanding (in shares)	0	0
Preferred stock, par value (in dollars per share)	$ 0.001	$ 0.001