Derivative Instruments and Hedging Activities - Net Assets (Liabilities) (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Apr. 30, 2023	Dec. 31, 2022
Derivative Instruments and Hedging Activities Disclosures [Line Items]
Derivative asset, current	$ 3,938		$ 2,606
Derivative asset, noncurrent	35,540		48,790
Derivative liability, noncurrent	$ 38		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
Interest rate swap agreements
Derivative Instruments and Hedging Activities Disclosures [Line Items]
Cumulative net gain in AOCI	$ 18,090
Interest Rate Swap, Terminated
Derivative Instruments and Hedging Activities Disclosures [Line Items]
Cumulative net gain in AOCI	5,054	$ 10,100
Cash Flow Hedges
Derivative Instruments and Hedging Activities Disclosures [Line Items]
Derivative Assets	11,519		12,995
Derivative Liabilities	38		489
Net Investment Hedges
Derivative Instruments and Hedging Activities Disclosures [Line Items]
Derivative Assets	27,959		38,401
Derivative Liabilities	0		$ 0
Cumulative net gain in cross-currency swaps	53,980
Net Investment Hedges | Cross-currency swap agreements (excluded component)
Derivative Instruments and Hedging Activities Disclosures [Line Items]
Cumulative net gain in cross-currency swaps	$ 26,021