Long-Term Debt and Loan Agreements - Additional Information (Details) - USD ($) $ in Thousands			1 Months Ended	12 Months Ended
	Jan. 12, 2024	Mar. 12, 2021	Mar. 31, 2017	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Sep. 29, 2022	Mar. 31, 2021
Debt Instrument [Line Items]
Line of credit facility, interest rate description				Borrowings under the Loan Agreement bear interest at the Term SOFR, RFR, EURIBOR and CDOR-based borrowing rates. Amounts borrowed under the credit facility are secured by pledges of stock of certain of the Company’s foreign subsidiaries and guaranties of certain of its domestic subsidiaries.
Loan agreement amendment description				On September 29, 2022, the Company entered into a Seventh Amended and Restated Loan Agreement (the “Seventh Amendment”), which amended the Sixth Amended and Restated Loan Agreement (the "Sixth Amendment"), dated March 12, 2021. The Seventh Amendment, among other things, extended the maturity date to September 2027 from March 2024.
Loan maturity period				2027-09
Long-term Debt				$ 58,000	$ 94,000
Notes outstanding				57,987	93,962
Long-term Debt				31,989	93,962
Repayments of long-term debt				0	0	$ 40,000
Amortization expense of deferred financing costs				313	441	463
Other long-term Member
Debt Instrument [Line Items]
Deferred financing fees							$ 900	$ 1,100
Interest Expense [Member]
Debt Instrument [Line Items]
Amortization expense of deferred financing costs				300	400	$ 500
5.25% Senior Unsecured Notes due January 15, 2024 [Member]
Debt Instrument [Line Items]
Long-term Debt				$ 11,000	11,000
Interest rate				5.25%
Debt instrument maturity date				Jan. 15, 2024
5.25% Senior Unsecured Notes due January 15, 2024 [Member] | Subsequent Event [Member]
Debt Instrument [Line Items]
Repayments of long-term debt	$ 11,000
5.45% Senior Unsecured Notes due January 15, 2026 [Member]
Debt Instrument [Line Items]
Long-term Debt				$ 12,000	12,000
Interest rate				5.45%
Debt instrument maturity date				Jan. 15, 2026
5.45% Senior Unsecured Notes due January 15, 2026 [Member] | Subsequent Event [Member]
Debt Instrument [Line Items]
Repayments of long-term debt	$ 15,000
Senior unsecured notes matured on january 15, 2026
Debt Instrument [Line Items]
Long-term Debt				$ 12,000
Debt instrument maturity date				Jan. 15, 2026
Senior Unsecured Notes [Member]
Debt Instrument [Line Items]
Notes outstanding				$ 38,000
Senior Unsecured Notes [Member] | Minimum [Member]
Debt Instrument [Line Items]
Long-term Debt				$ 11,000
Interest rate				5.25%
Debt instrument maturity date				Jan. 15, 2024
Senior Unsecured Notes [Member] | Maximum [Member]
Debt Instrument [Line Items]
Long-term Debt				$ 15,000
Interest rate				5.45%
Debt instrument maturity date				Jan. 15, 2026
Loan Agreement [Member]
Debt Instrument [Line Items]
Maximum borrowing capacity on line of credit			$ 200,000					$ 250,000
Loan maturity period			2022-03	2024-03
Deferred financing fees				$ 1,100	$ 1,400
Remaining amount available under the line of credit				224,300
Letters of credit				$ 5,700
Weighted average interest rate during period				6.86%	4.87%	4.56%
Seventh and Sixth Amendment [Member]
Debt Instrument [Line Items]
Maximum borrowing capacity on line of credit				$ 250,000
Loan maturity period		2024-03