Derivative Instruments, Hedging Activities and Fair Value - Derivatives Designated as Hedging Instruments (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Derivative [Line Items]
Gain or (loss) reclassified from AOCI into income	$ (63)	$ (865)	$ (525)	$ (1,680)
Total revenues	481,052	468,674	933,849	915,939
Interest expense	(16,692)	(15,643)	(31,784)	(31,899)
Fair Value of Derivatives Designated as Hedging Instruments
Derivative [Line Items]
Interest expense	(16,692)	(15,643)	(31,784)	(31,899)
Product Revenues
Derivative [Line Items]
Total revenues	41,434	39,023	75,796	71,949
Cost of services sold	34,205	30,466	64,867	57,980
Products And Services, Service Revenue
Derivative [Line Items]
Total revenues	439,618	429,651	858,053	843,990
Cost of services sold	368,994	344,982	715,351	674,835
Interest Expense | Interest rate swaps
Derivative [Line Items]
Gain or (loss) reclassified from AOCI into income	1,061	862	(2,111)	(1,727)
Gain (Loss) on Discontinuation of Cash Flow Hedge Due to Forecasted Transaction Probable of Not Occurring, Net	720	0	1,611	0
Interest Expense | Foreign exchange contracts
Derivative [Line Items]
Gain or (loss) reclassified from AOCI into income		0	0	0
Amount excluded from effectiveness testing recognized in earnings		0	0	0
Other Comprehensive Income (Loss), Derivative, Excluded Component, Increase (Decrease) Based On Amortization Approach, before Adjustments and Tax		0	0	0
Income (loss) from discontinued businesses | Interest rate swaps
Derivative [Line Items]
Gain or (loss) reclassified from AOCI into income	0	0	0	0
Gain (Loss) on Discontinuation of Cash Flow Hedge Due to Forecasted Transaction Probable of Not Occurring, Net	0	0	0	0
Income (loss) from discontinued businesses | Foreign currency exchange forward contracts
Derivative [Line Items]
Gain or (loss) reclassified from AOCI into income	998	(3)	1,586	47
Income (loss) from discontinued businesses | Foreign exchange contracts
Derivative [Line Items]
Gain or (loss) reclassified from AOCI into income	998	(3)	1,586	47
Amount excluded from effectiveness testing recognized in earnings	(23)	9	(64)	38
Other Comprehensive Income (Loss), Derivative, Excluded Component, Increase (Decrease) Based On Amortization Approach, before Adjustments and Tax	$ (3)	$ 1	$ (5)	$ 0