Supplemental Balance Sheet and Income Statement Information - Accumulated other comprehensive income (loss) (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Changes in accumulated other comprehensive income (loss)
Beginning balance	$ 368,956
Other comprehensive income (loss), net of tax	98	$ 1,336
Ending balance	402,711
Accumulated Other Comprehensive Income (Loss)
Changes in accumulated other comprehensive income (loss)
Beginning balance	(11,038)	(10,634)
Other comprehensive income (loss) before reclassifications	58	1,296
Amounts reclassified from accumulated other comprehensive income (loss)	40	40
Other comprehensive income (loss), net of tax	98	1,336
Ending balance	(10,940)	(9,298)
Gains (losses) on cash flow hedges
Changes in accumulated other comprehensive income (loss)
Beginning balance	2	2
Ending balance	2	2
Defined benefit pension plan items
Changes in accumulated other comprehensive income (loss)
Beginning balance	(3,767)	(5,356)
Other comprehensive income (loss) before reclassifications		1,428
Amounts reclassified from accumulated other comprehensive income (loss)	40	40
Other comprehensive income (loss), net of tax	40	1,468
Ending balance	(3,727)	(3,888)
Foreign currency items
Changes in accumulated other comprehensive income (loss)
Beginning balance	(7,273)	(5,280)
Other comprehensive income (loss) before reclassifications	58	(132)
Other comprehensive income (loss), net of tax	58	(132)
Ending balance	$ (7,215)	$ (5,412)