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Derivative Financial Instruments - Derivative Instruments, Gain (Loss) (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Not Designated as Hedging Instrument | Other Income (Expense), Net      
Derivative Instruments, Gain (Loss) [Line Items]      
Gain (loss) recognized in other income (expense), net $ 5,493 $ (183) $ (206)