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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