Financial Instruments and Fair Value Measurements - Effect of derivative instruments (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Gain (loss) of derivative instruments
Amount of net gain (loss) recognized in other comprehensive income on derivatives	$ 5,254	$ 1,061	$ (1,657)
Amount expected to be reclassified during next twelve months	$ 600
Period over which losses are expected to be reclassified	12 months
Interest expense
Gain (loss) of derivative instruments
Amount of net loss reclassified into consolidated statements of income	$ 52	247
Equity in loss from unconsolidated joint ventures
Gain (loss) of derivative instruments
Amount of net loss reclassified into consolidated statements of income	$ 88	$ 173