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Financial Instruments and Derivatives - Effect of Derivative Instruments on Consolidated Statement of Operations (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Derivative [Line Items]      
Derivative Instruments, (Loss) Gain Recognized in Income, Net $ (21,107) $ (4,560) $ 2,562
Designated as Hedging Instrument      
Derivative [Line Items]      
Derivative Instrument, Gain (Loss) Reclassified from AOCI into Income, Effective Portion, Statement of Income or Comprehensive Income [Extensible Enumeration] Interest expense Interest expense Interest expense
Amount of Gain or (Loss) Reclassified from Accumulated OCI into Income (Effective Portion) $ (1,114) $ (1,114) $ (1,088)
Not Designated as Hedging Instrument      
Derivative [Line Items]      
Derivative, Gain (Loss), Statement of Income or Comprehensive Income [Extensible Enumeration] Other non-operating income Other non-operating income Other non-operating income
Derivative Instruments, (Loss) Gain Recognized in Income, Net $ (21,107) $ (4,560) $ 2,562