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Financial Instruments - Fair Value Rollforward (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Fair Value, Net Derivative Asset (Liability) Measured on Recurring Basis, Unobservable Input Reconciliation [Roll Forward]        
Beginning balance $ 14,988 $ 15,110 $ 20,118  
Additions   5,370 1,093  
Accretion expense 3,818 2,396 2,771  
Remeasurement gain     (3,095)  
Payments (6,353) (7,671) (5,122)  
Foreign currency translation adjustment and other 348 (217) (655)  
Ending balance $ 12,801 $ 14,988 $ 15,110 $ 20,118
Fair Value, Liability, Recurring Basis, Unobservable Input Reconciliation, Gain (Loss), Statement of Income or Comprehensive Income [Extensible Enumeration]       Selling, general and administrative expenses
Fair Value, Liability, Recurring Basis, Unobservable Input Reconciliation, Liability, Gain (Loss), Statement of Other Comprehensive Income or Comprehensive Income [Extensible Enumeration]       Foreign currency translation adjustments, net of tax expense of $—, $— and $—