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Derivatives and Hedging - Effect of Derivative Instruments on Statements of Operations (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Effect of derivative instruments on results of operations      
Interest expense $ 111,488 $ 101,259 $ 108,135
Interest Rate Swaps      
Effect of derivative instruments on results of operations      
Interest expense   101,259 108,135
Designated as hedging instruments | Interest Rate Swaps      
Effect of derivative instruments on results of operations      
Pre-tax loss recognized in other comprehensive income   (512) (1,219)
Designated as hedging instruments | Interest Rate Swaps | Interest expense      
Effect of derivative instruments on results of operations      
Pre-tax loss reclassified from accumulated other comprehensive loss into interest expense   (1,758) (6,308)
Not designated as hedging instruments | Interest Rate Swaps      
Effect of derivative instruments on results of operations      
Gain recognized in interest expense   $ 523 $ 1,088
Derivative, Gain (Loss), Statement of Income or Comprehensive Income Interest expense Interest expense Interest expense