Summary of Operations and Significant Accounting Policies - Component of Comprehensive Income (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Accumulated Other Comprehensive Income (Loss), Net of Tax [Abstract]
Unrealized foreign currency losses	$ (63,171)	$ (89,059)	$ (7,760)
Unrealized (loss) gain on cross currency and interest rate swaps, net of tax	(37,294)	2,122	(2,157)
Unrealized loss on defined benefit plan	$ (42,762)	$ (41,296)	$ (40,600)