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Financial Instruments and Fair Values - Schedule of Effect of Derivative Financial Instruments Designated as Cash Flow Hedges (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Derivative Instruments, Gain (Loss) [Line Items]      
Amount of gain recognized in other comprehensive income (loss) $ 5,581 $ 40,044 $ 348
Amount of loss (gain) reclassified from accumulated other comprehensive income (loss) into interest expense 7,819 (7,230) (11,653)
Interest expense (101,484) (101,206) (94,394)
Interest rate swaps      
Derivative Instruments, Gain (Loss) [Line Items]      
Amount of gain recognized in other comprehensive income (loss) 5,581 40,044 348
Amount of loss (gain) reclassified from accumulated other comprehensive income (loss) into interest expense 7,819 (7,230) (11,653)
Interest rate swaps | Reclassification out of Accumulated Other Comprehensive Income | Accumulated other comprehensive income (loss)      
Derivative Instruments, Gain (Loss) [Line Items]      
Interest expense $ 7,819 $ (7,230) $ (11,653)