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Derivative Instruments - Derivatives Designated as Hedging Instruments Narrative (Details)
R$ in Millions
1 Months Ended 2 Months Ended 3 Months Ended 12 Months Ended
Apr. 15, 2020
USD ($)
Jun. 04, 2019
USD ($)
$ / €
May 15, 2019
USD ($)
Aug. 21, 2018
USD ($)
Apr. 30, 2019
USD ($)
Jun. 15, 2020
USD ($)
Jun. 30, 2020
USD ($)
Dec. 31, 2020
USD ($)
$ / €
Dec. 31, 2019
USD ($)
swapAgreement
Dec. 31, 2018
USD ($)
derivativeInstrument
Dec. 31, 2020
EUR (€)
$ / €
Nov. 20, 2020
USD ($)
educationalInstitution
derivativeInstrument
R$ / $
Nov. 20, 2020
BRL (R$)
educationalInstitution
derivativeInstrument
R$ / $
Sep. 30, 2020
AUD ($)
swapAgreement
Apr. 08, 2020
USD ($)
$ / €
Apr. 08, 2020
EUR (€)
$ / €
May 31, 2019
USD ($)
$ / €
May 31, 2019
EUR (€)
$ / €
May 01, 2019
swapAgreement
Apr. 30, 2019
EUR (€)
swapAgreement
May 31, 2017
USD ($)
derivativeInstrument
Derivatives, Fair Value [Line Items]                                          
(Loss) Gain Recognized in Comprehensive Income (Effective Portion)               $ 0 $ (7,950,000) $ 13,709,000                      
Derivative liability                 $ 0                        
Fair Value, Measurements, Recurring                                          
Derivatives, Fair Value [Line Items]                                          
Derivative liability               25,824,000                          
Level 3 | Fair Value, Measurements, Recurring                                          
Derivatives, Fair Value [Line Items]                                          
Derivative liability               0                          
Derivatives designated as hedging instruments: | Interest Rate Swaps                                          
Derivatives, Fair Value [Line Items]                                          
(Loss) Gain Recognized in Comprehensive Income (Effective Portion)               $ 0                          
Derivatives designated as hedging instruments: | Cash Flow Hedging                                          
Derivatives, Fair Value [Line Items]                                          
Derivative, cash received on hedge       $ 14,117,000                                  
Derivatives designated as hedging instruments: | Cash Flow Hedging | Interest Rate Swaps                                          
Derivatives, Fair Value [Line Items]                                          
General fair value hedge information, hedge effectiveness threshold               100.00%     100.00%                    
Number of interest rate derivatives held (derivative instrument) | derivativeInstrument                                         4
Derivatives designated as hedging instruments: | Cash Flow Hedging | Interest Rate Swap, Instrument One                                          
Derivatives, Fair Value [Line Items]                                          
Derivative, notional amount                                         $ 100,000,000
Derivatives designated as hedging instruments: | Cash Flow Hedging | Interest Rate Swap, Instrument Two                                          
Derivatives, Fair Value [Line Items]                                          
Derivative, notional amount                                         100,000,000
Derivatives designated as hedging instruments: | Cash Flow Hedging | Interest Rate Swap, Instrument Three                                          
Derivatives, Fair Value [Line Items]                                          
Derivative, notional amount                                         200,000,000
Derivatives designated as hedging instruments: | Cash Flow Hedging | Interest Rate Swap, Instrument Four                                          
Derivatives, Fair Value [Line Items]                                          
Derivative, notional amount                                         $ 300,000,000
Derivatives designated as hedging instruments: | Net Investment Hedging | Net Investment Cross Currency Swaps                                          
Derivatives, Fair Value [Line Items]                                          
Number of currency derivatives held (derivative instrument) | derivativeInstrument                   2                      
General fair value hedge information, hedge effectiveness threshold               100.00%     100.00%                    
(Loss) Gain Recognized in Comprehensive Income (Effective Portion)               $ 0                          
Derivatives designated as hedging instruments: | Net Investment Hedging | Cross Currency Interest Rate Contract, Instrument One                                          
Derivatives, Fair Value [Line Items]                                          
Derivative, cash received on hedge         $ 7,679,000                                
Derivative, notional amount               $ 59,210,000     € 50,000,000                    
Implied exchange rate               1.1842     1.1842                    
Derivatives designated as hedging instruments: | Net Investment Hedging | Cross Currency Interest Rate Contract, Instrument One | Euro Member Countries, Euro                                          
Derivatives, Fair Value [Line Items]                                          
Swaption interest rate               5.63%     5.63%                    
Derivatives designated as hedging instruments: | Net Investment Hedging | Cross Currency Interest Rate Contract, Instrument One | United States of America, Dollars                                          
Derivatives, Fair Value [Line Items]                                          
Swaption interest rate               8.25%     8.25%                    
Derivatives designated as hedging instruments: | Net Investment Hedging | Cross Currency Interest Rate Contract, Instrument Two                                          
Derivatives, Fair Value [Line Items]                                          
Derivative, notional amount               $ 59,360,000     € 50,000,000                    
Implied exchange rate               1.1872     1.1872                    
Derivatives designated as hedging instruments: | Net Investment Hedging | Cross Currency Interest Rate Contract, Instrument Two | Euro Member Countries, Euro                                          
Derivatives, Fair Value [Line Items]                                          
Swaption interest rate               5.6675%     5.6675%                    
Derivatives designated as hedging instruments: | Net Investment Hedging | Cross Currency Interest Rate Contract, Instrument Two | United States of America, Dollars                                          
Derivatives, Fair Value [Line Items]                                          
Swaption interest rate               8.25%     8.25%                    
Derivatives not designated as hedging instruments: | Net Investment Cross Currency Swaps                                          
Derivatives, Fair Value [Line Items]                                          
Debt Instrument, Unamortized Premium                       $ 18,294,000                  
Derivatives not designated as hedging instruments: | Net Investment Cross Currency Swaps | Brazil, Brazil Real                                          
Derivatives, Fair Value [Line Items]                                          
Number of currency derivatives held (derivative instrument) | derivativeInstrument                       6 6                
Derivative, notional amount                       $ 343,783,000 R$ 1,875                
Derivative, swap type, variable price | R$ / $                       5.4540 5.4540                
Derivatives not designated as hedging instruments: | Net Investment Cross Currency Swaps | Brazil, Brazil Real | Put/Call Options                                          
Derivatives, Fair Value [Line Items]                                          
Number of interest rate derivatives held (derivative instrument) | educationalInstitution                       4 4                
Derivatives not designated as hedging instruments: | Net Investment Cross Currency Swaps | Australia, Dollars                                          
Derivatives, Fair Value [Line Items]                                          
Derivative, notional amount               $ 13,713,000     € 21,000,000       $ 12,921,000 € 21,000          
Derivative, swap type, variable price | $ / €               0.6530     0.6530       0.6153 0.6153          
Unrealized gain (loss) on derivatives           $ (1,340,000)                              
Derivatives not designated as hedging instruments: | Cross Currency Interest Rate Contract, Instrument Two | Australia, Dollars                                          
Derivatives, Fair Value [Line Items]                                          
Derivative, notional amount                             $ 12,999,000 € 21,000,000          
Derivative, swap type, variable price | $ / €                             0.6190 0.6190          
Unrealized gain (loss) on derivatives $ 714,000                                        
Derivatives not designated as hedging instruments: | Cross Currency Interest Rate Contract, Instrument Three and Four | Brazil, Brazil Real                                          
Derivatives, Fair Value [Line Items]                                          
Derivative, notional amount | R$                         R$ 1,900                
Derivatives not designated as hedging instruments: | Cross Current Interest Rate Contract, Instrument Three | Brazil, Brazil Real                                          
Derivatives, Fair Value [Line Items]                                          
Derivative, notional amount | R$                         R$ 950                
Derivatives not designated as hedging instruments: | Cross Current Interest Rate Contract, Instrument Three | Brazil, Brazil Real | Minimum                                          
Derivatives, Fair Value [Line Items]                                          
Derivative, swap type, variable price | R$ / $                       5.484143 5.484143                
Derivatives not designated as hedging instruments: | Cross Current Interest Rate Contract, Instrument Three | Brazil, Brazil Real | Maximum                                          
Derivatives, Fair Value [Line Items]                                          
Derivative, swap type, variable price | R$ / $                       5.678624 5.678624                
Derivatives not designated as hedging instruments: | Cross Current Interest Rate Contract, Instrument Four | Brazil, Brazil Real                                          
Derivatives, Fair Value [Line Items]                                          
Derivative, notional amount | R$                         R$ 950                
Derivatives not designated as hedging instruments: | Cross Current Interest Rate Contract, Instrument Four | Brazil, Brazil Real | Minimum                                          
Derivatives, Fair Value [Line Items]                                          
Derivative, swap type, variable price | R$ / $                       5.44706 5.44706                
Derivatives not designated as hedging instruments: | Cross Current Interest Rate Contract, Instrument Four | Brazil, Brazil Real | Maximum                                          
Derivatives, Fair Value [Line Items]                                          
Derivative, swap type, variable price | R$ / $                       5.63255 5.63255                
Derivatives not designated as hedging instruments: | Cross Currency Swaps                                          
Derivatives, Fair Value [Line Items]                                          
Number of currency derivatives held (derivative instrument) | swapAgreement                 2                   9    
Derivative liability, current               $ 17,680,000 $ 0                        
Derivative liability, noncurrent               8,144,000 0                        
Derivatives not designated as hedging instruments: | Cross Currency Swaps | Euro Member Countries, Euro                                          
Derivatives, Fair Value [Line Items]                                          
Number of currency derivatives held (derivative instrument) | swapAgreement                                       7  
Derivative, notional amount   $ 597,149,000                             $ 423,003,000 € 532,000,000   € 375,000,000  
Derivative, swap type, variable price | $ / €   1.122461                             1.128007 1.128007      
Unrealized gain (loss) on derivatives   $ (565,000) $ 1,644,000                                    
Derivatives not designated as hedging instruments: | Cross Currency Swaps | Australia, Dollars                                          
Derivatives, Fair Value [Line Items]                                          
Number of currency derivatives held (derivative instrument) | swapAgreement                           2              
Derivative, notional amount               7,443,000           $ 11,000,000              
Derivative, swap type, variable price                           0.6766              
Interest Expense | Interest Rate Swaps                                          
Derivatives, Fair Value [Line Items]                                          
(Loss) Gain Recognized in Comprehensive Income (Effective Portion)               $ 0 $ (11,818,000) $ 5,772,000                      
Interest Expense | Derivatives designated as hedging instruments: | Cash Flow Hedging                                          
Derivatives, Fair Value [Line Items]                                          
Cash flow hedge, reclassification for discontinuance, before tax             $ 9,800,000