Supplemental Balance Sheet and Income Statement Information - Accumulated other comprehensive income (loss) (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Changes in accumulated other comprehensive income (loss)
Beginning balance	$ 326,614
Other comprehensive income (loss), net of tax	(93)	$ 98
Ending balance	286,338
Accumulated Other Comprehensive Income (Loss)
Changes in accumulated other comprehensive income (loss)
Beginning balance	(10,832)	(11,038)
Other comprehensive income (loss) before reclassifications	(134)	58
Amounts reclassified from accumulated other comprehensive income (loss)	41	40
Other comprehensive income (loss), net of tax	(93)	98
Ending balance	(10,925)	(10,940)
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	(3,606)	(3,767)
Amounts reclassified from accumulated other comprehensive income (loss)	41	40
Other comprehensive income (loss), net of tax	41	40
Ending balance	(3,565)	(3,727)
Foreign currency items
Changes in accumulated other comprehensive income (loss)
Beginning balance	(7,228)	(7,273)
Other comprehensive income (loss) before reclassifications	(134)	58
Other comprehensive income (loss), net of tax	(134)	58
Ending balance	$ (7,362)	$ (7,215)