Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Accounts receivable, allowance for credit loss	$ 13,764	$ 14,766
Contract with customer, asset, allowance for credit loss	$ 23	$ 33
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)	62,521,026	61,279,379
Common stock, shares outstanding (in shares)	35,164,339	34,593,837
Treasury stock (in shares)	27,356,687	26,685,542