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Derivative Instruments and Hedging Activities - Net Assets (Liabilities) (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Apr. 30, 2023
Dec. 31, 2022
Derivative Instruments and Hedging Activities Disclosures [Line Items]      
Derivative asset, noncurrent $ 6,359   $ 48,790
Derivative liability, current 2,496    
Derivative liability, noncurrent $ 3,273   489
Derivative asset, current     2,606
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    
Derivative Liability, Current, Statement of Financial Position [Extensible Enumeration] Accrued expenses and other current liabilities (includes current portion of operating lease liabilities)    
Interest rate swap agreements      
Derivative Instruments and Hedging Activities Disclosures [Line Items]      
Cumulative net gain in AOCI $ 2,472    
Interest Rate Swap, Terminated      
Derivative Instruments and Hedging Activities Disclosures [Line Items]      
Cumulative net gain in AOCI 2,528 $ 10,100  
Cash Flow Hedging      
Derivative Instruments and Hedging Activities Disclosures [Line Items]      
Derivative asset 1,601   12,995
Derivative liability (3,273)   489
Net Investment Hedging      
Derivative Instruments and Hedging Activities Disclosures [Line Items]      
Derivative asset 4,758   38,401
Derivative liability (2,496)   $ 0
Cumulative net gain in cross-currency swaps 32,459    
Net Investment Hedging | Cross-currency swap agreements (excluded component)      
Derivative Instruments and Hedging Activities Disclosures [Line Items]      
Cumulative net gain in cross-currency swaps $ 30,197