Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Statement of Financial Position [Abstract]
Receivables, allowance	$ 8,912	$ 9,918
Intangible assets, accumulated amortization	$ 124,197	$ 111,318
Preferred stock, shares authorized	500,000	500,000
Preferred stock, shares issued	0	0
Common stock, par value, in USD per share	$ 0.30	$ 0.30
Common stock, shares authorized	60,000,000	60,000,000
Common stock, shares issued	31,214,714	30,874,437