Components of Accumulated Other Comprehensive Loss - Reclassification out of Accumulated Other Comprehensive Income (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Reclassification out of Accumulated Other Comprehensive Income [Line Items]
Interest expense	$ 24,328	$ 15,092
Income from continuing operations before income taxes	(1,566)	(4,822)
Income tax expense (benefit)	6,923	1,221
Net income (loss)	(8,590)	(38,680)
Amount Reclassified from Accumulated Other Comprehensive Loss | Cash flow hedging intruments
Reclassification out of Accumulated Other Comprehensive Income [Line Items]
Income from continuing operations before income taxes	163	462
Income tax expense (benefit)	(39)	(124)
Net income (loss)	124	338
Amount Reclassified from Accumulated Other Comprehensive Loss | Cash flow hedging intruments | Foreign currency exchange forward contracts
Reclassification out of Accumulated Other Comprehensive Income [Line Items]
Income (loss) from discontinued businesses	411	(588)
Amount Reclassified from Accumulated Other Comprehensive Loss | Cash flow hedging intruments | Interest rate swaps
Reclassification out of Accumulated Other Comprehensive Income [Line Items]
Interest expense	(248)	1,050
Amount Reclassified from Accumulated Other Comprehensive Loss | Defined benefit pension items
Reclassification out of Accumulated Other Comprehensive Income [Line Items]
Income from continuing operations before income taxes	4,784	4,847
Income tax expense (benefit)	(292)	(313)
Net income (loss)	4,492	4,534
Amount Reclassified from Accumulated Other Comprehensive Loss | Actuarial losses
Reclassification out of Accumulated Other Comprehensive Income [Line Items]
Defined benefit pension income (expense)	4,670	4,727
Amount Reclassified from Accumulated Other Comprehensive Loss | Prior service costs
Reclassification out of Accumulated Other Comprehensive Income [Line Items]
Defined benefit pension income (expense)	$ 114	$ 120