Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Statement of Financial Position [Abstract]
Accounts receivable, allowance for credit loss	$ 14,766	$ 17,387
Contract with customer, asset, allowance for credit loss	$ 33	$ 88
Common stock, par value (in usd per share)	$ 0.01	$ 0.01
Common stock, shares authorized (in shares)	250,000,000	250,000,000
Common stock, shares issued (in shares)	61,279,379	60,830,853
Common stock, shares outstanding (in shares)	34,593,837	34,145,311
Treasury stock (in shares)	26,685,542	26,685,542