Schedule II - Valuation and Qualifying Accounts (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Allowance for credit losses
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Balance at Beginning of Period	$ 22,561	$ 21,530	$ 19,617
Charged to Expenses	8,752	8,771	9,464
Deductions	(6,486)	(7,091)	(6,827)
Translation Adjustments	362	(649)	(724)
Balance at End of Period	25,189	22,561	21,530
Allowance for credit losses | Cumulative Effect, Period of Adoption, Adjusted Balance
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Balance at Beginning of Period		21,530
Balance at End of Period			21,530
Deferred tax valuation allowance
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Balance at Beginning of Period	23,571	24,198	24,132
Charged to Expenses	6,816	2,033	5,635
Deductions	(4,674)	(1,467)	(3,936)
Translation Adjustments	59	(1,193)	(1,633)
Balance at End of Period	$ 25,772	$ 23,571	$ 24,198