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
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