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Income Taxes - Narrative (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Operating Loss Carryforwards [Line Items]      
Net deferred tax liability $ 554,268 $ 431,375  
Gross deferred tax liability 930,884 941,303  
Deferred tax assets 376,616 509,928  
Decrease in deferred tax asset valuation allowance (800)    
Undistributed foreign earnings 174,200    
Unrecognized tax benefits that, if recognized, would affect the annual effective tax rate 41,800 42,300 $ 43,300
Income tax interest   100 $ 1,000
Income tax interest accrued 400 400  
Decrease in unrecognized tax benefits that is reasonably possible in next twelve months $ 700    
Discontinued Operations, Disposed of by Sale | UK Storage Solutions      
Operating Loss Carryforwards [Line Items]      
Net deferred tax liability   29,700  
Gross deferred tax liability   33,700  
Deferred tax assets   $ 4,000