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Derivative Financial Instruments - Schedule of Derivative Instruments, Effect on Other Comprehensive Income (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Cost of revenues |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Gain on derivative instruments, pretax |  | $ 629 |
Loss on derivative instruments, pretax | $ (316) |  | $ (147)
Operating expenses |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Gain on derivative instruments, pretax |  | 2,678 |
Loss on derivative instruments, pretax | (1,105) |  | (540)
Foreign currency forward contracts |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Other comprehensive income (loss), cash flow hedge, gain (loss), before reclassification and tax | (5,513) | 2,482 | 1,183
Interest Rate Swaps |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Other comprehensive income (loss), cash flow hedge, gain (loss), before reclassification and tax | 10,005 | 2,456 | (32,367)
Designated as Hedging Instrument |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Other comprehensive income (loss), cash flow hedge, gain (loss), before reclassification and tax | 4,492 | 4,938 | (31,184)
Designated as Hedging Instrument | Foreign currency forward contracts |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Other comprehensive income (loss), cash flow hedge, gain (loss), reclassification, before tax | (1,421) | 3,307 | (687)
Designated as Hedging Instrument | Interest Rate Swaps |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Other comprehensive income (loss), cash flow hedge, gain (loss), reclassification, before tax | $ 4,558 | $ (21,323) | $ (20,564)

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- Definition Amount, before tax and reclassification, of gain (loss) from derivative instrument designated and qualifying cash flow hedge included in assessment of hedge effectiveness. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 815 -SubTopic 20 -Section 45 -Paragraph 3 -URI https://asc.fasb.org/extlink&oid=121577181&loc=SL110061190-113977 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 815 -SubTopic 10 -Section 50 -Paragraph 4A -Subparagraph (b)(2) -URI https://asc.fasb.org/extlink&oid=125515794&loc=SL5618551-113959 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 815 -SubTopic 10 -Section 50 -Paragraph 4C -Subparagraph (b) -URI https://asc.fasb.org/extlink&oid=125515794&loc=SL5624171-113959 Reference 4: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 220 -SubTopic 10 -Section 45 -Paragraph 11 -URI https://asc.fasb.org/extlink&oid=126968391&loc=d3e637-108580 Reference 5: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 220 -SubTopic 10 -Section 45 -Paragraph 10A -Subparagraph (d) -URI https://asc.fasb.org/extlink&oid=126968391&loc=SL7669646-108580 + Details
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