Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Statement of Financial Position [Abstract]
Accounts receivable, allowance for credit loss	$ 17,829	$ 14,926
Contract with customer, asset, allowance for credit loss	$ 39	$ 35
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)	63,306,246	62,660,783
Common stock, shares outstanding (in shares)	35,826,908	35,302,746
Treasury stock (in shares)	27,479,338	27,358,037