Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Receivables, allowance for doubtful accounts	$ 11,418	$ 11,195
Deferred financing costs, less current maturities	593	585
Deferred financing costs, excluding current maturities	$ 32,022	$ 36,274
Preferred stock, par value (in usd per share)	$ 0.001	$ 0.001
Preferred stock, cumulative dividends (in usd per share)	$ 63.80	$ 63.80
Preferred stock, shares authorized (in shares)	5,720	5,720
Preferred stock, shares issued (in shares)	5,720	5,720
Preferred stock, shares outstanding (in shares)	5,720	5,720
Shares held in treasury (in shares)	783,696	688,017
Common Class A
Common stock, par value (in usd per share)	$ 0.001	$ 0.001
Common stock, shares authorized (in shares)	362,500,000	362,500,000
Common stock, shares issued (in shares)	88,110,928	87,540,838
Common stock, shares, outstanding (in shares)	87,327,232	86,852,821
Common Class B
Common stock, par value (in usd per share)	$ 0.001	$ 0.001
Common stock, shares authorized (in shares)	37,500,000	37,500,000
Common stock, shares issued (in shares)	14,420,085	14,420,085
Common stock, shares, outstanding (in shares)	14,420,085	14,420,085