Financial Instruments - Fair Value of Outstanding Derivative Contracts Recorded as Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	$ 3,117	$ 3,196
Liability derivatives (Level 2)	10,775	5,373
Foreign currency exchange forward contracts | Other current assets
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	1,674	3,196
Foreign currency exchange forward contracts | Other current liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	8,625	5,373
Interest rate swaps | Other current assets
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	1,443
Interest rate swaps | Other liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	2,150
Fair Value of Derivatives Designated as Hedging Instruments
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	1,520	1,042
Liability derivatives (Level 2)	2,711	577
Fair Value of Derivatives Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current assets
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	77	1,042
Fair Value of Derivatives Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	561	577
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other current assets
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	1,443
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	2,150
Fair Value of Derivatives Not Designated as Hedging Instruments
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	1,597	2,154
Liability derivatives (Level 2)	8,064	4,796
Fair Value of Derivatives Not Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current assets
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	1,597	2,154
Fair Value of Derivatives Not Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	8,064	$ 4,796
Fair Value of Derivatives Not Designated as Hedging Instruments | Interest rate swaps | Other current assets
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	0
Fair Value of Derivatives Not Designated as Hedging Instruments | Interest rate swaps | Other liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	$ 0