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Derivative Instruments - Derivatives not designated as hedging instruments (Details) - Not Designated as Hedging Instrument [Member] - Foreign Exchange Contract [Member] - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Derivative [Line Items] |  |  |
Derivative, Notional Amount | $ 138,600 |  |
Other income (expense), net |  |  |
Derivative [Line Items] |  |  |
Gain (Loss) on Foreign Currency Derivatives Recorded in Earnings, Net | $ (1,880) | $ 1,540 | $ 7,130

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