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Financial Instruments Measured at Fair Value - Derivatives (Details) € in Thousands, $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2022 USD ($) | Dec. 31, 2021 USD ($) | Dec. 31, 2020 USD ($) | Dec. 31, 2022 EUR (€)
Derivatives, Fair Value [Line Items] |  |  |  |  |
Unrealized Gain (Loss) on Foreign Exchange Contracts Designated as Net Investment Hedges, Net |  | $ 8,779 | $ 14,452 | $ (13,488) |
Derivative Instruments, Gain (Loss) Recognized in Income, Net |  | 5,219 | 5,718 | 4,826 |
Derivative (Gain (Loss) Recognized in Other Comprehensive Income before reclassification, net of tax |  | 41,411 | 40,365 | (18,825) |
Derivative, Notional Amount |  | 1,300,000 | 1,100,000 |  |
Other Comprehensive Income (Loss), Derivative, Excluded Component, Increase (Decrease), before Adjustments, after Tax |  | $ 1,800 | (600) | 18,000 |
Notes Due in 2032 - 2.95% |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |
Debt Instrument, Interest Rate, Stated Percentage |  | 2.95% |  |  | 2.95%
Fair Value, Measurements, Recurring [Member] |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |
Interest Rate Cash Flow Hedge Asset at Fair Value |  | $ 55,942 | 21,831 |  |
Fair Value, Inputs, Level 1 [Member] | Fair Value, Measurements, Recurring [Member] |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |
Interest Rate Cash Flow Hedge Asset at Fair Value |  | 0 | 0 |  |
Fair Value, Inputs, Level 2 [Member] | Fair Value, Measurements, Recurring [Member] |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |
Interest Rate Cash Flow Hedge Asset at Fair Value |  | 55,942 | 21,831 |  |
Fair Value, Inputs, Level 3 [Member] | Fair Value, Measurements, Recurring [Member] |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |
Interest Rate Cash Flow Hedge Asset at Fair Value |  | 0 | 0 |  |
Net Investment Hedging [Member] | Designated as Hedging Instrument [Member] |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |
Derivative Instruments, Gain (Loss) Recognized in Income, Net | [1] | 8,805 | 8,805 | 8,805 |
Derivative (Gain (Loss) Recognized in Other Comprehensive Income before reclassification, net of tax | [2] | 15,474 | 21,133 | (6,802) |
Cash Flow Hedging [Member] | Designated as Hedging Instrument [Member] | Interest Rate Swap [Member] |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |
Derivative Instruments, Gain (Loss) Recognized in Income, Net |  | (3,586) | (3,087) | (3,979) |
Derivative (Gain (Loss) Recognized in Other Comprehensive Income before reclassification, net of tax |  | $ 25,937 | $ 19,232 | $ (12,023) |
Maturity March 2023 [Member] | Foreign Exchange Forward [Member] |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |
Derivative, Notional Amount | € |  |  |  |  | € 50,000
Maturity September 2024 [Member] | Foreign Exchange Forward [Member] |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |
Derivative, Notional Amount | € |  |  |  |  | 50,000
Maturity April 2025 [Member] | Foreign Exchange Forward [Member] |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |
Derivative, Notional Amount | € |  |  |  |  | 100,000
Maturity January 2028 [Member] | Foreign Exchange Forward [Member] |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |
Derivative, Notional Amount | € |  |  |  |  | 100,000
All Maturities [Member] | Foreign Exchange Forward [Member] |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |
Derivative, Notional Amount | € |  |  |  |  | € 300,000
Maturity December 2024 | Cash Flow Hedging [Member] | Designated as Hedging Instrument [Member] | Interest Rate Swap [Member] |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |
Derivative, Average Fixed Interest Rate |  | 0.97% | 0.97% |  | 0.97%
Derivative, Notional Amount |  | $ 300,000 | $ 300,000 |  |
[1] | Represents derivative amounts excluded from the assessment of effectiveness for the net investment hedges reclassified from CTA to Interest and other financing expenses, net.
[2] | Includes derivative gains (losses) excluded from the assessment of effectiveness for the net investment hedges and recognized in other comprehensive income (net of tax) of $1.8 million, $(0.6) million, and $18.0 million for 2022, 2021, and 2020, respectively.

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