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Fair Value of Financial Instruments - Schedule of Derivatives Designated as Hedging Instruments (Details) - Designated as Hedging Instrument - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
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Foreign exchange contracts |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Derivative asset | $ 9,195 | $ 13,851
Foreign exchange contracts | Prepaid expenses other current assets |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Derivative asset | 620 | 72
Foreign exchange contracts | Other non-current assets |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Derivative asset | 0 | 0
Foreign exchange contracts | Accrued other liabilities |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Derivative liability | 0 | 157
Foreign exchange contracts | Other non-current liabilities |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Derivative liability | 0 | 0
Interest rate hedging derivatives: |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Derivative asset | 23,229 | 24,479
Interest rate hedging derivatives: | Prepaid expenses other current assets |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Derivative asset | 419 | 280
Interest rate hedging derivatives: | Other non-current assets |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Derivative asset | 105 | 485
Interest rate hedging derivatives: | Accrued other liabilities |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Derivative liability | 0 | 0
Interest rate hedging derivatives: | Other non-current liabilities |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Derivative liability | $ 0 | $ 0

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