Borrowings, Amended Credit Agreement and Credit Agreement (Details) - USD ($) $ in Thousands		Dec. 31, 2023	Dec. 31, 2022
Debt Instruments [Abstract]
Principal amount		$ 148,150	$ 185,555
Principal amount, current portion		8,111	8,271
Principal amount, net of current portion		140,039	177,284
Unamortized debt issuance cost [Abstract]
Unamortized debt issuance cost		(1,468)	(1,861)
Unamortized debt issuance cost, current portion		(420)	(408)
Unamortized debt issuance cost, net of current portion		(1,048)	(1,453)
Net debt [Abstract]
Net debt		146,682	183,694
Net debt, less current portion		7,691	7,863
Net debt, net of current portion		138,991	175,831
Revolving Facility [Member]
Debt Instruments [Abstract]
Principal amount		0	31,000
Unamortized debt issuance cost [Abstract]
Unamortized debt issuance cost		0	0
Net debt [Abstract]
Net debt		0	31,000
Term Facility [Member]
Debt Instruments [Abstract]
Principal amount		144,375	148,125
Unamortized debt issuance cost [Abstract]
Unamortized debt issuance cost		(1,468)	(1,861)
Net debt [Abstract]
Net debt		142,907	146,264
Other [Member]
Debt Instruments [Abstract]
Principal amount	[1]	3,775	6,430
Unamortized debt issuance cost [Abstract]
Unamortized debt issuance cost	[1]	0	0
Net debt [Abstract]
Net debt	[1]	$ 3,775	$ 6,430

[1] The long-term portion is included as part of Other Long-Term Liabilities in the Consolidated Balance Sheet.