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Derivative Instruments and Hedging Strategies - Effect of Derivative Instruments on Other Comprehensive Income (Loss) (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Derivative [Line Items]      
Derivative gains (losses) on cash flow hedges $ 56 $ 1,608 $ 219
Interest Rate Swap      
Derivative [Line Items]      
Derivative gains (losses) on cash flow hedges 56 1,608 219
Joint Venture Interest Rate Swap      
Derivative [Line Items]      
Derivative gains (losses) on cash flow hedges 0 941 (588)
Interest Expense      
Derivative [Line Items]      
Reclassification of derivative losses on cash flow hedges $ (571) $ 694 $ 1,648