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Derivatives - Fair Value of Derivative Instruments (Details) - USD ($) $ in Thousands | Sep. 30, 2023 | Dec. 31, 2022
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Designated as hedging instrument | Interest rate swap |  |
Derivatives, Fair Value [Line Items] |  |
Fair value of derivative asset | $ 2,300 | $ 3,400
Designated as hedging instrument | Interest rate swap | Prepaid expenses and other assets |  |
Derivatives, Fair Value [Line Items] |  |
Fair value of derivative asset | 2,320 |
Designated as hedging instrument | Interest rate swap | Other assets (long-term) |  |
Derivatives, Fair Value [Line Items] |  |
Fair value of derivative asset |  | 3,444
Designated as hedging instrument | Foreign currency forward contracts | Prepaid expenses and other assets |  |
Derivatives, Fair Value [Line Items] |  |
Fair value of derivative asset | 3,463 | 3,215
Designated as hedging instrument | Foreign currency forward contracts | Other assets (long-term) |  |
Derivatives, Fair Value [Line Items] |  |
Fair value of derivative asset | 698 | 56
Designated as hedging instrument | Foreign currency forward contracts | Accrued expenses |  |
Derivatives, Fair Value [Line Items] |  |
Total Liability Derivatives | (845) | (1,509)
Designated as hedging instrument | Foreign currency forward contracts | Other long-term obligations |  |
Derivatives, Fair Value [Line Items] |  |
Total Liability Derivatives | (238) | (531)
Not designated as hedging instrument | Foreign currency forward contracts | Prepaid expenses and other assets |  |
Derivatives, Fair Value [Line Items] |  |
Fair value of derivative asset | 1,874 | 1,512
Not designated as hedging instrument | Foreign currency forward contracts | Accrued expenses |  |
Derivatives, Fair Value [Line Items] |  |
Total Liability Derivatives | $ (1,897) | $ (1,946)

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