Derivative Instruments, Hedging Activities and Fair Value - Fair Value of Outstanding Derivative Contracts (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Derivative contracts
Asset derivatives	$ 14,264	$ 3,196
Liability derivatives	758	5,373
Foreign currency exchange forward contracts | Other current assets
Derivative contracts
Asset derivatives	10,300	3,196
Foreign currency exchange forward contracts | Other current liabilities
Derivative contracts
Liability derivatives	758	5,373
Interest rate swaps | Other current assets
Derivative contracts
Asset derivatives	3,326
Interest rate swaps | Other assets
Derivative contracts
Asset derivatives	638
Fair Value of Derivatives Designated as Hedging Instruments
Derivative contracts
Asset derivatives	4,447	1,042
Liability derivatives	4	577
Fair Value of Derivatives Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current assets
Derivative contracts
Asset derivatives	483	1,042
Fair Value of Derivatives Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current liabilities
Derivative contracts
Liability derivatives	4	577
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other current assets
Derivative contracts
Asset derivatives	3,326
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other assets
Derivative contracts
Asset derivatives	638
Fair Value of Derivatives Not Designated as Hedging Instruments
Derivative contracts
Asset derivatives	9,817	2,154
Liability derivatives	754	4,796
Fair Value of Derivatives Not Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current assets
Derivative contracts
Asset derivatives	9,817	2,154
Fair Value of Derivatives Not Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current liabilities
Derivative contracts
Liability derivatives	754	$ 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 assets
Derivative contracts
Asset derivatives	$ 0