CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Accounts receivable, allowance	$ 9,501	$ 8,265
Common stock, par value (in USD per share)	$ 0.10	$ 0.10
Common stock, shares authorized (in shares)	120,000,000	120,000,000
Common stock, shares issued (in shares)	107,506,000	107,193,000
Common stock, shares outstanding (in shares)	83,032,000	82,894,000
Deferred stock units, outstanding (in shares)	59,000	58,000
Treasury stock, shares (in shares)	24,474,000	24,299,000