Condensed Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Mar. 31, 2021	Dec. 31, 2020
Statement of Financial Position [Abstract]
Allowance for credit loss, current	$ 9,031	$ 9,918
Intangible assets, accumulated amortization	$ 114,476	$ 111,318
Preferred stock, shares authorized (in shares)	500,000	500,000
Preferred stock, shares issued (in shares)	0	0
Common stock, par value (in usd per share)	$ 0.30	$ 0.30
Common stock, shares authorized (in shares)	60,000,000	60,000,000
Common stock, shares issued (in shares)	30,893,447	30,874,437