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Derivative Instruments and Hedging Activities - Net Assets (Liabilities) (Details) - USD ($)
$ in Thousands
Mar. 31, 2024
Dec. 31, 2023
Derivative Instruments and Hedging Activities Disclosures [Line Items]    
Derivative asset, current $ 1,086  
Derivative asset, noncurrent $ 19,204 $ 6,359
Derivative liability, current   2,496
Derivative liability, noncurrent   3,273
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  
Interest rate swap agreements    
Derivative Instruments and Hedging Activities Disclosures [Line Items]    
Cumulative net gain in AOCI $ 11,332  
Cash Flow Hedges    
Derivative Instruments and Hedging Activities Disclosures [Line Items]    
Derivative Assets 9,716 1,601
Derivative Liabilities 0 (3,273)
Net Investment Hedges    
Derivative Instruments and Hedging Activities Disclosures [Line Items]    
Derivative Assets 10,574 4,758
Derivative Liabilities 0 $ (2,496)
Cumulative net gain in cross-currency swaps 44,947  
Net Investment Hedges | Cross-currency swap agreements (excluded component)    
Derivative Instruments and Hedging Activities Disclosures [Line Items]    
Cumulative net gain in cross-currency swaps $ 34,373