Schedule II Valuation and Qualifying Accounts and Reserves Supplemental Schedule (Details) - Accounts receivable reserves - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Balance at Beginning of Period	$ 1,575	$ 2,342	$ 3,204
Charged to Costs and Expenses	736	(170)	178
Charged to Other Accounts	0	0	0
Deductions	(668)	(597)	(1,040)
Balance at End of Period	$ 1,643	$ 1,575	$ 2,342