Derivative Instruments, Hedging Activities and Fair Value - Fair Value of Outstanding Derivative Contracts (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Derivative contracts
Asset derivatives	$ 6,746	$ 3,117
Liability derivatives	992	10,775
Foreign currency exchange forward contracts | Other current assets
Derivative contracts
Asset derivatives	4,544	1,674
Foreign currency exchange forward contracts | Other current liabilities
Derivative contracts
Liability derivatives	782	8,625
Interest rate swaps | Other current assets
Derivative contracts
Asset derivatives	2,202	1,443
Interest rate swaps | Other liabilities
Derivative contracts
Liability derivatives	210	2,150
Fair Value of Derivatives Designated as Hedging Instruments
Derivative contracts
Asset derivatives	2,303	1,520
Liability derivatives	598	2,711
Fair Value of Derivatives Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current assets
Derivative contracts
Asset derivatives	101	77
Fair Value of Derivatives Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current liabilities
Derivative contracts
Liability derivatives	388	561
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other current assets
Derivative contracts
Asset derivatives	2,202	1,443
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other liabilities
Derivative contracts
Liability derivatives	210	2,150
Fair Value of Derivatives Not Designated as Hedging Instruments
Derivative contracts
Asset derivatives	4,443	1,597
Liability derivatives	394	8,064
Fair Value of Derivatives Not Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current assets
Derivative contracts
Asset derivatives	4,443	1,597
Fair Value of Derivatives Not Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current liabilities
Derivative contracts
Liability derivatives	394	8,064
Fair Value of Derivatives Not Designated as Hedging Instruments | Interest rate swaps | Other current assets
Derivative contracts
Asset derivatives	0	0
Fair Value of Derivatives Not Designated as Hedging Instruments | Interest rate swaps | Other liabilities
Derivative contracts
Liability derivatives	$ 0	$ 0