Derivative Instruments and Hedging Activities - Summary of Derivative Financial Instruments that are Not Designated as Hedging Instruments (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Derivative [Line Items]
Amount of Gain (Loss) Recognized in Income on Derivative	$ 297	$ 27	$ (9,408)
Interest rate swaps | (Loss) gain on interest rate swaps
Derivative [Line Items]
Amount of Gain (Loss) Recognized in Income on Derivative	297	(31)	(9,451)
Foreign exchange contracts | Selling general and administrative
Derivative [Line Items]
Amount of Gain (Loss) Recognized in Income on Derivative	0	24	28
Foreign exchange contracts | Cost of revenues
Derivative [Line Items]
Amount of Gain (Loss) Recognized in Income on Derivative	$ 0	$ 34	$ 15