Schedule II-Valuation and Qualifying Accounts (Details) - Allowance for Doubtful Accounts - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Changes in valuation and qualifying accounts
Balance at beginning of period	$ 1,729	$ 2,823	$ 3,775
Additions:
Bad debt expense	1,099	2,630	2,026
Deductions:
Charge-offs foreign currency translation and other adjustments	(1,565)	(3,724)	(2,978)
Balance at end of period	$ 1,263	$ 1,729	$ 2,823