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Derivative Instruments and Hedging Activities - Net Assets (Liabilities) (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2023
Dec. 31, 2022
Derivative Instruments and Hedging Activities Disclosures [Line Items]    
Derivative asset, current $ 11,538 $ 2,606
Derivative asset, noncurrent 30,567 48,790
Derivative liability, noncurrent 2,292  
Derivative liability, noncurrent $ 1,151 489
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, statement of financial position [Extensible Enumeration] Prepaid expenses and other, Assets, Noncurrent, Excluding Property, Plant and Equipment, Net  
Derivative asset, noncurrent, statement of financial position [Extensible Enumeration] Assets, Noncurrent, Excluding Property, Plant and Equipment, Net  
Cash Flow Hedges    
Derivative Instruments and Hedging Activities Disclosures [Line Items]    
Derivative Assets $ 10,215 12,995
Derivative liabilities (1,151) (489)
Net Investment Hedges    
Derivative Instruments and Hedging Activities Disclosures [Line Items]    
Derivative Assets 31,890 38,401
Derivative liabilities (2,292) $ 0
Cumulative net gain in cross-currency swaps 29,598  
Amount recognized in accumulated other comprehensive items for excluded component of derivative 14,934  
Interest rate swap agreements    
Derivative Instruments and Hedging Activities Disclosures [Line Items]    
Cumulative net gain in AOCI $ 9,064