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Derivative Instruments - Derivatives Designated as Hedging Instruments Narrative (Details) $ in Thousands |  |  | 2 Months Ended | 3 Months Ended | 12 Months Ended |  |
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Jun. 02, 2021 USD ($) | Apr. 15, 2020 USD ($) $ / € | Jun. 15, 2020 USD ($) $ / € | Jun. 30, 2021 USD ($) | Dec. 31, 2022 USD ($) | Dec. 31, 2021 USD ($) | Dec. 31, 2020 USD ($) | Nov. 30, 2020 USD ($) | Nov. 30, 2020 swapAgreement | Nov. 30, 2020 educationalInstitution | Nov. 30, 2020 BRL (R$) | Nov. 30, 2020 R$ / $ | Apr. 08, 2020 USD ($) $ / € | Apr. 08, 2020 EUR (€) $ / €
Derivatives, Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Settlement of derivatives related to sale of discontinued operations and net investment hedge |  |  |  |  | $ 0 | $ (50,341) | $ 0 |  |  |  |  |  |  |
Currency Swap, Deal Contingent | Brazil, Brazil Real | Not Designated as Hedging Instrument |  |  |  |  |  |  |  |  |  |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of interest rate derivatives held (derivative instrument) |  |  |  |  |  |  |  |  | 6 | 2 |  |  |  |
Cross Currency Interest Rate Contract, Instrument Three and Four | Brazil, Brazil Real | Not Designated as Hedging Instrument |  |  |  |  |  |  |  |  |  |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Derivative, notional amount | R$ |  |  |  |  |  |  |  |  |  |  | R$ 1,900,000,000 |  |  |
Cross Current Interest Rate Contract, Instrument Four | Brazil, Brazil Real | Not Designated as Hedging Instrument |  |  |  |  |  |  |  |  |  |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Derivative, notional amount | R$ |  |  |  |  |  |  |  |  |  |  | 950,000,000 |  |  |
Net Investment Cross Currency Swaps | Not Designated as Hedging Instrument |  |  |  |  |  |  |  |  |  |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Deferred premium payments |  |  |  |  |  |  |  | $ 18,294 |  |  |  |  |  |
Loss on sale | $ 33,710 |  |  |  |  |  |  |  |  |  |  |  |  |
Net Investment Cross Currency Swaps | Brazil, Brazil Real | Not Designated as Hedging Instrument |  |  |  |  |  |  |  |  |  |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Derivative, notional amount |  |  |  |  |  |  |  | $ 343,783 |  |  | R$ 1,875,000,000 |  |  |
Derivative, swap type, variable price | R$ / $ |  |  |  |  |  |  |  |  |  |  |  | 5.4540 |  |
Settlement of derivatives related to sale of discontinued operations and net investment hedge |  |  |  | $ 1,663 |  |  |  |  |  |  |  |  |  |
Net Investment Cross Currency Swaps | Brazil, Brazil Real | Not Designated as Hedging Instrument | Put/Call Options |  |  |  |  |  |  |  |  |  |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of interest rate derivatives held (derivative instrument) | educationalInstitution |  |  |  |  |  |  |  |  |  | 4 |  |  |  |
Net Investment Cross Currency Swaps | Australia, Dollars | Not Designated as Hedging Instrument |  |  |  |  |  |  |  |  |  |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Derivative, notional amount |  |  | $ 12,921 |  |  |  |  |  |  |  |  |  | $ 13,713 | € 21,000,000
Derivative, swap type, variable price | $ / € |  | 0.6530 | 0.6153 |  |  |  |  |  |  |  |  |  |  |
Unrealized Gain (Loss) on Derivatives |  |  | $ 1,340 |  |  |  |  |  |  |  |  |  |  |
Cross Currency Interest Rate Contract, Instrument One | Australia, Dollars | Not Designated as Hedging Instrument |  |  |  |  |  |  |  |  |  |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Derivative, notional amount |  |  |  |  |  |  |  |  |  |  |  |  | $ 12,999 | € 21,000,000
Derivative, swap type, variable price | $ / € |  |  |  |  |  |  |  |  |  |  |  |  | 0.6190 | 0.6190
Unrealized Gain (Loss) on Derivatives |  | $ (714) |  |  |  |  |  |  |  |  |  |  |  |

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- Definition Amount, after accumulated amortization, of debt premium. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 835 -SubTopic 30 -Section 55 -Paragraph 8 -URI https://asc.fasb.org/extlink&oid=114775985&loc=d3e28878-108400 Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 470 -SubTopic 20 -Section 50 -Paragraph 1D -Subparagraph (a) -URI https://asc.fasb.org/extlink&oid=123466505&loc=SL123495340-112611 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 835 -SubTopic 30 -Section 45 -Paragraph 1A -URI https://asc.fasb.org/extlink&oid=124435984&loc=d3e28541-108399 + Details
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- Definition Nominal or face amount used to calculate payment on derivative. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 815 -SubTopic 10 -Section 50 -Paragraph 1B -URI https://asc.fasb.org/extlink&oid=125515794&loc=SL5580258-113959 Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 815 -SubTopic 10 -Section 50 -Paragraph 1A -Subparagraph (d) -URI https://asc.fasb.org/extlink&oid=125515794&loc=SL5579245-113959 + Details
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- Definition The difference between the book value and the sale price of options, swaps, futures, forward contracts, and other derivative instruments. This element refers to the gain (loss) included in earnings. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 45 -Paragraph 28 -Subparagraph (b) -URI https://asc.fasb.org/extlink&oid=126954810&loc=d3e3602-108585 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 942 -SubTopic 220 -Section S99 -Paragraph 1 -Subparagraph (SX 210.9-04.13(h)) -URI https://asc.fasb.org/extlink&oid=120399700&loc=SL114874048-224260 + Details
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- Definition Number of interest rate derivative instruments held by the entity at the reporting date. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 815 -SubTopic 10 -Section 50 -Paragraph 1A -Subparagraph (d) -URI https://asc.fasb.org/extlink&oid=125515794&loc=SL5579245-113959 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 815 -SubTopic 10 -Section 50 -Paragraph 1B -URI https://asc.fasb.org/extlink&oid=125515794&loc=SL5580258-113959 + Details
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- Definition The net cash outflow or inflow from derivative instruments during the period, which are classified as investing activities, excluding those designated as hedging instruments. + References No definition available. + Details
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- Definition The net change in the difference between the fair value and the carrying value, or in the comparative fair values, of derivative instruments, including options, swaps, futures, and forward contracts, held at each balance sheet date, that was included in earnings for the period. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 45 -Paragraph 28 -Subparagraph (b) -URI https://asc.fasb.org/extlink&oid=126954810&loc=d3e3602-108585 + Details
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