Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Allowance for doubtful accounts	$ 2,638	$ 5,025
Common stock, par value (in dollars per share)	$ 0.01	$ 0.01
Common stock, authorized (in shares)	120,000,000	120,000,000
Common stock, issued (in shares)	54,361,980	54,361,980
Treasury stock (in shares)	9,275,061	9,568,457