Fair Value of Assets and Liabilities-Fair Values of Derivatives and Classifications on the Condensed Consolidated Balance Sheets (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Foreign exchange forward contract | Not Designated as Hedging Instrument
Fair Value, Balance Sheet Grouping, Financial Statement Captions
Derivative assets	$ 2,862	$ 6,186
Prepaid expenses and other current assets | Interest rate swap agreement | Designated as cash flow hedge | Designated as Hedging Instrument
Fair Value, Balance Sheet Grouping, Financial Statement Captions
Derivative assets	4,963	3,939
Other long-term assets | Interest rate swap agreement | Designated as cash flow hedge | Designated as Hedging Instrument
Fair Value, Balance Sheet Grouping, Financial Statement Captions
Derivative assets	$ 6,533	$ 4,740