Derivative Instruments and Hedging Activities - Summary of Derivative Financial Instruments that are Not Designated as Hedging Instruments (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Derivative [Line Items]
Amount of gain (loss) recognized in income on derivative	$ (328)	$ 18
Interest rate swaps | Gain on interest rate swaps
Derivative [Line Items]
Amount of gain (loss) recognized in income on derivative	(328)	(46)
Foreign exchange contracts | Selling general and administrative
Derivative [Line Items]
Amount of gain (loss) recognized in income on derivative	0	41
Foreign exchange contracts | Cost of revenues
Derivative [Line Items]
Amount of gain (loss) recognized in income on derivative	$ 0	$ 23