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Derivative Instruments and Hedging Activities - Foreign Exchange Currency Forward Contracts Not Designated as Hedging Instruments (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Derivative [Line Items] |  |  |
Derivative asset, current | $ 2,606 | $ 11,021 |
Derivative asset, noncurrent | 48,790 | 2,082 |
Derivative liability, noncurrent | 489 | 6,262 |
Amount recognized in accumulated other comprehensive items for excluded component of derivative | 9,100 |  |
Cash flow hedge, interest rate swap agreements | $ 9,829 | 52,380 | $ (39,947)
Derivative Asset, Statement of Financial Position [Extensible Enumeration] | Prepaid expenses and other, Assets, Noncurrent, Excluding Property, Plant and Equipment, Net |  |
Derivative Liability, Statement of Financial Position [Extensible Enumeration] | Accrued expenses and other current liabilities (includes current portion of operating lease liabilities), Other Long-term Liabilities |  |
Derivative Asset, Current, Statement of Financial Position [Extensible Enumeration] | Prepaid expenses and other |  |
Derivative Liability, Noncurrent, Statement of Financial Position [Extensible Enumeration] | Other Long-term Liabilities |  |
Derivative Asset, Noncurrent, Statement of Financial Position [Extensible Enumeration] | Assets, Noncurrent, Excluding Property, Plant and Equipment, Net |  |
Net Investment Hedging |  |  |
Derivative [Line Items] |  |  |
Cumulative net gain in cross-currency swaps | $ 38,401 |  |
Amount recognized in accumulated other comprehensive items for excluded component of derivative | 9,100 |  |
March 2024 Interest Rate Swap Agreements | Cash Flow Hedging |  |  |
Derivative [Line Items] |  |  |
Derivative liability | 12,915 | (7,680) |
March 2024 Interest Rate Swap Agreements | Designated Hedging Instruments | Cash Flow Hedging |  |  |
Derivative [Line Items] |  |  |
Cash flow hedge, interest rate swap agreements | 20,595 | 13,382 | (12,288)
October 2025 Interest Rate Swap Agreement | Cash Flow Hedging |  |  |
Derivative [Line Items] |  |  |
Derivative liability | (409) | 0 |
October 2025 Interest Rate Swap Agreement | Designated Hedging Instruments | Cash Flow Hedging |  |  |
Derivative [Line Items] |  |  |
Cash flow hedge, interest rate swap agreements | (409) | 0 | 0
August 2023 Cross Currency Swap Agreements | Net Investment Hedging |  |  |
Derivative [Line Items] |  |  |
Derivative liability |  | (664) |
Derivative asset | 2,526 |  |
August 2023 Cross Currency Swap Agreements | Designated Hedging Instruments | Net Investment Hedging |  |  |
Derivative [Line Items] |  |  |
Net investment hedge, currency swap agreements | 3,190 | 7,565 | (7,247)
February 2026 Cross Currency Swap Agreements | Net Investment Hedging |  |  |
Derivative [Line Items] |  |  |
Derivative asset | 35,875 | 11,021 |
February 2026 Cross Currency Swap Agreements | Designated Hedging Instruments | Net Investment Hedging |  |  |
Derivative [Line Items] |  |  |
Net investment hedge, currency swap agreements | 24,854 | $ 31,433 | $ (20,412)
Interest Rate Swap |  |  |
Derivative [Line Items] |  |  |
Cumulative net gain in AOCI | $ 12,506 |  |

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