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Financial Instruments Measured at Fair Value - Derivatives (Details)
€ in Thousands, $ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
USD ($)
Apr. 01, 2023
USD ($)
Oct. 01, 2022
USD ($)
Sep. 30, 2023
USD ($)
Oct. 01, 2022
USD ($)
Sep. 30, 2023
EUR (€)
Dec. 31, 2022
USD ($)
Dec. 31, 2022
EUR (€)
Financial Instruments Measured at Fair Value                
Derivative Instruments, Gain (Loss) Recognized in Income $ 874   $ 1,296 $ 1,414 $ 3,933      
Derivative Gain (Loss) Recognized in Other Comprehensive Income (Loss) before reclassifications, net of tax 5,448   19,632 4,487 55,192      
Proceeds from settlement of net investment hedge   $ 10,700   10,725 0      
Derivative, Notional Amount 1,100,000     1,100,000     $ 1,300,000  
Other comprehensive income (loss), derivative, excluded component, increase (decrease), before adjustments, after tax 900   1,000 4,300 3,500      
Change in unrealized gain (loss) on hedged item in fair value hedge 200     1,100        
Net investment hedging | Designated as hedging instrument                
Financial Instruments Measured at Fair Value                
Derivative Instruments, Gain (Loss) Recognized in Income 1,804   2,202 5,656 6,604      
Derivative Gain (Loss) Recognized in Other Comprehensive Income (Loss) before reclassifications, net of tax $ 5,448   13,016 $ 3,902 30,031      
Fair value hedging | Interest rate swap                
Financial Instruments Measured at Fair Value                
Derivative, fixed interest rate 6.125%     6.125%   6.125%    
Derivative, variable interest rate 0.508% 0.508%   0.508%   0.508%    
Derivative, Notional Amount $ 500,000     $ 500,000        
Fair value hedging | Designated as hedging instrument | Interest rate swap                
Financial Instruments Measured at Fair Value                
Derivative Instruments, Gain (Loss) Recognized in Income (247)     (2,043)        
Cash flow hedging                
Financial Instruments Measured at Fair Value                
Derivative, Notional Amount             $ 300,000  
Cash flow hedging | Designated as hedging instrument | Interest rate swap                
Financial Instruments Measured at Fair Value                
Derivative Instruments, Gain (Loss) Recognized in Income $ (683)   (906) (2,199) (2,671)      
Derivative Gain (Loss) Recognized in Other Comprehensive Income (Loss) before reclassifications, net of tax     $ 6,616 $ 585 $ 25,161      
Maturity March 2023 | Foreign exchange forward                
Financial Instruments Measured at Fair Value                
Derivative, Notional Amount | €           € 0   € 50,000
Maturity September 2024 | Foreign exchange forward                
Financial Instruments Measured at Fair Value                
Derivative, Notional Amount | €           50,000   50,000
Maturity April 2025 | Foreign exchange forward                
Financial Instruments Measured at Fair Value                
Derivative, Notional Amount | €           100,000   100,000
Maturity January 2028 | Foreign exchange forward                
Financial Instruments Measured at Fair Value                
Derivative, Notional Amount | €           100,000   100,000
All Maturities | Foreign exchange forward                
Financial Instruments Measured at Fair Value                
Derivative, Notional Amount | €           € 250,000   € 300,000
Maturity December 2024 | Cash flow hedging | Designated as hedging instrument | Interest rate swap                
Financial Instruments Measured at Fair Value                
Derivative, average fixed interest rate             0.97% 0.97%