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Fair Value Information and Derivative Financial Instruments - Derivatives Not Designated as Hedging Instruments (Details) - Not Designated as Hedging Instrument - Foreign currency forward contracts - euro - Foreign currency forward contracts - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Prepaid expenses    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Derivative asset, notional amount $ 12,242 $ 55,063
Derivative asset, fair value, gross asset 791 2,132
Other liabilities and accrued items    
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]    
Derivative liability, notional amount 17,061 9,425
Derivative liability, fair value, gross liability $ 1,048 $ 128