Derivative Instruments and Hedging Activities - Schedule of Derivative Financial Instruments that are Not Designated as Hedging Instruments (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Derivative [Line Items]
Amount of Gain (Loss) Recognized in Income on Derivative	$ 0	$ 297	$ 27
Interest rate swaps | Gain (loss) on interest rate swaps
Derivative [Line Items]
Amount of Gain (Loss) Recognized in Income on Derivative	0	297	(31)
Foreign exchange contracts: | Selling general and administrative
Derivative [Line Items]
Amount of Gain (Loss) Recognized in Income on Derivative	0	0	24
Foreign exchange contracts: | Cost of revenues
Derivative [Line Items]
Amount of Gain (Loss) Recognized in Income on Derivative	$ 0	$ 0	$ 34