Derivative Instruments and Hedging Activities - Net Assets (Liabilities) (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Apr. 30, 2023	Dec. 31, 2022
Derivative Instruments and Hedging Activities Disclosures [Line Items]
Derivative asset, current	$ 1,459		$ 2,606
Derivative asset, noncurrent	26,827		48,790
Derivative liability, noncurrent	$ 4,540
Derivative liability, noncurrent			489
Derivative liability, statement of financial position [Extensible Enumeration]	Accrued expenses and other current liabilities (includes current portion of operating lease liabilities), Other Long-term Liabilities
Derivative asset, current, statement of financial position [Extensible Enumeration]	Prepaid expenses and other
Derivative liability, noncurrent, statement of financial position [Extensible Enumeration]	Other Long-term Liabilities
Derivative asset, statement of financial position [Extensible Enumeration]	Prepaid expenses and other, Assets, Noncurrent, Excluding Property, Plant and Equipment, Net
Derivative asset, noncurrent, statement of financial position [Extensible Enumeration]	Assets, Noncurrent, Excluding Property, Plant and Equipment, Net
Cash Flow Hedges
Derivative Instruments and Hedging Activities Disclosures [Line Items]
Derivative Assets	$ 6,852		12,995
Derivative Liabilities	0		489
Net Investment Hedges
Derivative Instruments and Hedging Activities Disclosures [Line Items]
Derivative Assets	21,434		38,401
Derivative Liabilities	4,540		$ 0
Cumulative net gain in cross-currency swaps	37,645
Interest rate swap agreements
Derivative Instruments and Hedging Activities Disclosures [Line Items]
Cumulative net gain in AOCI	14,433
Interest Rate Swap, Terminated
Derivative Instruments and Hedging Activities Disclosures [Line Items]
Cumulative net gain in AOCI	7,581	$ 10,100
Cross-currency swap agreements (excluded component) | Net Investment Hedges
Derivative Instruments and Hedging Activities Disclosures [Line Items]
Cumulative net gain in cross-currency swaps	$ 20,751