Schedule II-Valuation and Qualifying Accounts (Details) - Allowance for Doubtful Accounts - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Changes in valuation and qualifying accounts
Balance at beginning of period	$ 2,823	$ 3,775	$ 4,088
Additions:
Bad debt expense	2,630	2,026	2,544
Deductions:
Charge-offs foreign currency translation and other adjustments	(3,724)	(2,978)	(2,857)
Balance at end of period	$ 1,729	$ 2,823	$ 3,775