Derivatives and Hedging Instruments - Summary of Effects of Derivatives not Designated as Hedging Instruments (Details) - Other expense - Cash flow hedge - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Foreign currency exchange contracts
Derivative [Line Items]
Amount of Gain (Loss) Recognized in Income	$ 0	$ 0	$ (20)
Interest rate cap contracts
Derivative [Line Items]
Amount of Gain (Loss) Recognized in Income	(556)	0	0
Interest rate swap agreements
Derivative [Line Items]
Amount of Gain (Loss) Recognized in Income	$ 0	$ 0	$ (73)

Amount of realized and unrealized gain (loss) of derivative instruments not designated or qualifying as hedging instruments.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Topic 815
-SubTopic 10
-Section 50
-Paragraph 4C
-Subparagraph (e)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480434/815-10-50-4C

Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef
-Name Accounting Standards Codification
-Section 50
-Paragraph 4CC
-SubTopic 10
-Topic 815
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480434/815-10-50-4CC

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Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	duration