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Derivatives - Fair Value of Derivative Instruments (Details) - USD ($)
$ in Thousands
Jun. 30, 2024
Dec. 31, 2023
Designated as hedging instrument | Interest rate swap    
Derivatives, Fair Value [Line Items]    
Fair value of derivative asset $ 300 $ 1,500
Designated as hedging instrument | Interest rate swap | Prepaid expenses and other assets    
Derivatives, Fair Value [Line Items]    
Fair value of derivative asset 254 1,503
Designated as hedging instrument | Foreign currency forward contracts | Prepaid expenses and other assets    
Derivatives, Fair Value [Line Items]    
Fair value of derivative asset 2,877 2,061
Designated as hedging instrument | Foreign currency forward contracts | Other assets (long-term)    
Derivatives, Fair Value [Line Items]    
Fair value of derivative asset 497 216
Designated as hedging instrument | Foreign currency forward contracts | Accrued expenses    
Derivatives, Fair Value [Line Items]    
Total Liability Derivatives (954) (1,898)
Designated as hedging instrument | Foreign currency forward contracts | Other long-term obligations    
Derivatives, Fair Value [Line Items]    
Total Liability Derivatives (343) (499)
Not designated as hedging instrument | Foreign currency forward contracts | Prepaid expenses and other assets    
Derivatives, Fair Value [Line Items]    
Fair value of derivative asset 1,572 828
Not designated as hedging instrument | Foreign currency forward contracts | Accrued expenses    
Derivatives, Fair Value [Line Items]    
Total Liability Derivatives $ (953) $ (1,463)