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Financial Instruments and Fair Values - Effect of Derivative Financial Instruments Designated as Cash Flow Hedges (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Amount of gain (loss) recognized in other comprehensive income (loss) | $ 40,044 | $ 348 | $ (19,322)
Amount of loss reclassified from accumulated other comprehensive income (loss) into interest expense | (7,230) | (11,653) | (8,870)
Interest expense | (101,206) | (94,394) | (89,907)
Interest rate swaps |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Amount of gain (loss) recognized in other comprehensive income (loss) | 40,044 | 348 | (19,322)
Amount of loss reclassified from accumulated other comprehensive income (loss) into interest expense | (7,230) | (11,653) | (8,870)
Interest rate swaps | Reclassification out of Accumulated Other Comprehensive Income | Accumulated other comprehensive income (loss) |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Interest expense | $ (7,230) | $ (11,653) | $ (8,870)

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