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Derivative Instruments, Hedging Activities and Fair Value - Fair Value of Outstanding Derivative Contracts (Details) - USD ($)
$ in Thousands
Mar. 31, 2023
Dec. 31, 2022
Derivative contracts    
Asset derivatives $ 3,396 $ 3,196
Liability derivatives 11,947 5,373
Foreign currency exchange forward contracts | Other current assets    
Derivative contracts    
Asset derivatives 2,086 3,196
Foreign currency exchange forward contracts | Other current liabilities    
Derivative contracts    
Liability derivatives 7,501 5,373
Interest rate swaps | Other current assets    
Derivative contracts    
Asset derivatives 1,310  
Interest rate swaps | Other liabilities    
Derivative contracts    
Liability derivatives 4,446  
Fair Value of Derivatives Designated as Hedging Instruments    
Derivative contracts    
Asset derivatives 1,429 1,042
Liability derivatives 5,252 577
Fair Value of Derivatives Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current assets    
Derivative contracts    
Asset derivatives 119 1,042
Fair Value of Derivatives Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current liabilities    
Derivative contracts    
Liability derivatives 806 577
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other current assets    
Derivative contracts    
Asset derivatives 1,310  
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other liabilities    
Derivative contracts    
Liability derivatives 4,446  
Fair Value of Derivatives Not Designated as Hedging Instruments    
Derivative contracts    
Asset derivatives 1,967 2,154
Liability derivatives 6,695 4,796
Fair Value of Derivatives Not Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current assets    
Derivative contracts    
Asset derivatives 1,967 2,154
Fair Value of Derivatives Not Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current liabilities    
Derivative contracts    
Liability derivatives 6,695 $ 4,796
Fair Value of Derivatives Not Designated as Hedging Instruments | Interest rate swaps | Other current assets    
Derivative contracts    
Asset derivatives 0  
Fair Value of Derivatives Not Designated as Hedging Instruments | Interest rate swaps | Other liabilities    
Derivative contracts    
Liability derivatives $ 0