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Shareholders' Equity - Components of Accumulated Other Comprehensive Income (Loss) (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Accumulated other comprehensive loss |  | $ (298,039) | $ (365,262) | $ (191,657)
Accumulated Other Comprehensive Income (Loss), Foreign Currency Translation Adjustment, Net of Tax |  | (349,042) | (422,711) | (192,939)
Foreign Currency Translation Adjustment and Other |  | 74,800 | (231,464) | (133,106)
Other Comprehensive Income (Loss), Net of Tax, Portion Attributable to Parent |  | 67,223 | (173,605) |
Foreign Currency Translation Adjustment and Other, Net |  | 73,669 | (229,772) |
Gain(Loss) on Foreign Exchange Contracts Designated as Net Investment Hedges, Net |  | (7,952) | 8,779 | 14,452
Gain on interest rate swaps designated as cash flow hedges, net of taxes |  | 2,783 | 28,664 | 21,538
Employee Benefit Plan Items, Net |  | 1,277 | (18,724) | (7,150)
Other comprehensive income (loss) before reclassifications |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Other Comprehensive (Income) Loss, Defined Benefit Plan, before Reclassification Adjustment, after Tax | [1] | (1,011) | 17,245 |
Other Comprehensive Income (Loss), Cash Flow Hedge, Gain (Loss), before Reclassification, Tax | [1] | 585 | 25,937 |
Foreign Currency Translation Adjustment and Other | [1] | 72,949 | (228,303) |
Other Comprehensive Income (Loss), Net of Tax, Portion Attributable to Parent | [1] | 70,247 | (169,647) |
Gain(Loss) on Foreign Exchange Contracts Designated as Net Investment Hedges, Net | [1] | (2,276) | 15,474 |
Gain (Loss) on Foreign Exchange Contracts Designated as Net Investment Hedges, Net |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Accumulated other comprehensive loss |  | 12,159 | 20,111 | 11,332
Gain(Loss) on Foreign Exchange Contracts Designated as Net Investment Hedges, Net |  | (7,952) | 8,779 |
Gain Loss On Interest Rate Swaps Designated As Cash Flow Hedges, Net |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Accumulated other comprehensive loss |  | 30,638 | 27,855 | (809)
Gain on interest rate swaps designated as cash flow hedges, net of taxes |  | 2,783 | 28,664 |
Amounts reclassified into income |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Foreign Currency Translation Adjustment and Other |  | 720 | (1,469) |
Other Comprehensive Income (Loss), Net of Tax, Portion Attributable to Parent |  | (3,024) | (3,958) |
Gain(Loss) on Foreign Exchange Contracts Designated as Net Investment Hedges, Net |  | (5,676) | (6,695) |
Gain on interest rate swaps designated as cash flow hedges, net of taxes |  | 2,198 |  |
Employee Benefit Plan Items, Net |  | (266) | 1,479 |
Interest Rate Cash Flow Hedge Gain (Loss) Reclassified to Earnings, Net |  |  | 2,727 |
Employee Benefit Plan Items, Net |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Accumulated other comprehensive loss |  | 8,206 | 9,483 | $ (9,241)
Employee Benefit Plan Items, Net |  | (1,277) | 18,724 |
Intra-entity foreign currency transactions | Other comprehensive income (loss) before reclassifications |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Foreign Currency Translation Adjustment and Other |  | $ 21,200 | $ (21,600) |
[1] | Foreign currency translation adjustment includes intra-entity foreign currency transactions that are of a long-term investment nature of $21.2 million and ($21.6) million for 2023 and 2022, respectively.

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