Derivative Financial Instruments - Schedule of Derivative Instruments, Effect on Other Comprehensive Income (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Cost of revenues
Derivative Instruments, Gain (Loss) [Line Items]
Gain on derivative instruments, pretax		$ 629
Loss on derivative instruments, pretax	$ (316)		$ (147)
Operating expenses
Derivative Instruments, Gain (Loss) [Line Items]
Gain on derivative instruments, pretax		2,678
Loss on derivative instruments, pretax	(1,105)		(540)
Foreign currency forward contracts
Derivative Instruments, Gain (Loss) [Line Items]
Other comprehensive income (loss), cash flow hedge, gain (loss), before reclassification and tax	(5,513)	2,482	1,183
Interest Rate Swaps
Derivative Instruments, Gain (Loss) [Line Items]
Other comprehensive income (loss), cash flow hedge, gain (loss), before reclassification and tax	10,005	2,456	(32,367)
Designated as Hedging Instrument
Derivative Instruments, Gain (Loss) [Line Items]
Other comprehensive income (loss), cash flow hedge, gain (loss), before reclassification and tax	4,492	4,938	(31,184)
Designated as Hedging Instrument | Foreign currency forward contracts
Derivative Instruments, Gain (Loss) [Line Items]
Other comprehensive income (loss), cash flow hedge, gain (loss), reclassification, before tax	(1,421)	3,307	(687)
Designated as Hedging Instrument | Interest Rate Swaps
Derivative Instruments, Gain (Loss) [Line Items]
Other comprehensive income (loss), cash flow hedge, gain (loss), reclassification, before tax	$ 4,558	$ (21,323)	$ (20,564)