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Derivative Instruments - Derivatives Designated as Hedging Instruments, Narrative (Details) $ in Thousands |  | 12 Months Ended |
--- | --- | --- | ---
Jun. 02, 2021 USD ($) | Dec. 31, 2023 USD ($) | 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$) | Nov. 30, 2020 R$ / $
Derivatives, Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |
Settlement of derivatives related to sale of discontinued operations and net investment hedge |  | $ 0 | $ 0 | $ (50,341) |  |  |  |  |  |
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 Four | Brazil, Brazil Real | Not Designated as Hedging Instrument |  |  |  |  |  |  |  |  |  |
Derivatives, Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |
Derivative, notional amount | R$ |  |  |  |  |  |  |  |  | R$ 950,000,000 |
Cross Currency Interest Rate Contract, Instrument Three | 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 |  |  | 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 |  |
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 |

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- Definition Amount, after accumulated amortization, of debt premium. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 835 -SubTopic 30 -Section 45 -Paragraph 1A -Publisher FASB -URI https://asc.fasb.org//1943274/2147482925/835-30-45-1A Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 835 -SubTopic 30 -Section 55 -Paragraph 8 -Publisher FASB -URI https://asc.fasb.org//1943274/2147482949/835-30-55-8 Reference 3: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 470 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1D -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147481139/470-20-50-1D + Details
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