Components of Accumulated Other Comprehensive Loss - Reclassification out of Accumulated Other Comprehensive Income (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Reclassification out of Accumulated Other Comprehensive Income [Line Items]
Interest expense	$ 28,122	$ 24,995
Income (loss) from continuing operations before income taxes	(7,577)	708
Income tax benefit (expense) from continuing operations	7,915	8,017
Net income (loss)	(16,846)	(8,590)
Amount Reclassified from Accumulated Other Comprehensive Loss | Cash flow hedging intruments
Reclassification out of Accumulated Other Comprehensive Income [Line Items]
Income (loss) from continuing operations before income taxes	(1,286)	163
Income tax benefit (expense) from continuing operations	284	(39)
Net income (loss)	(1,002)	124
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]
Product revenues	(404)	411
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	(882)	(248)
Amount Reclassified from Accumulated Other Comprehensive Loss | Defined benefit pension items
Reclassification out of Accumulated Other Comprehensive Income [Line Items]
Income (loss) from continuing operations before income taxes	4,964	4,784
Income tax benefit (expense) from continuing operations	(263)	(292)
Net income (loss)	4,701	4,492
Amount Reclassified from Accumulated Other Comprehensive Loss | Actuarial losses
Reclassification out of Accumulated Other Comprehensive Income [Line Items]
Defined benefit pension income (expense)	4,846	4,670
Amount Reclassified from Accumulated Other Comprehensive Loss | Prior service costs
Reclassification out of Accumulated Other Comprehensive Income [Line Items]
Defined benefit pension income (expense)	$ 118	$ 114