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Derivative Instruments - Derivatives Designated as Hedging Instruments Narrative (Details)
$ in Thousands
2 Months Ended 3 Months Ended 12 Months Ended
Jun. 02, 2021
USD ($)
Apr. 15, 2020
USD ($)
$ / €
Jun. 15, 2020
USD ($)
$ / €
Jun. 30, 2021
USD ($)
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Nov. 30, 2020
USD ($)
Nov. 30, 2020
swapAgreement
Nov. 30, 2020
educationalInstitution
Nov. 30, 2020
BRL (R$)
Nov. 30, 2020
R$ / $
Apr. 08, 2020
USD ($)
$ / €
Apr. 08, 2020
EUR (€)
$ / €
Derivatives, Fair Value [Line Items]                            
Settlement of derivatives related to sale of discontinued operations and net investment hedge         $ 0 $ (50,341) $ 0              
Currency Swap, Deal Contingent | Brazil, Brazil Real | Not Designated as Hedging Instrument                            
Derivatives, Fair Value [Line Items]                            
Number of interest rate derivatives held (derivative instrument)                 6 2        
Cross Currency Interest Rate Contract, Instrument Three and Four | Brazil, Brazil Real | Not Designated as Hedging Instrument                            
Derivatives, Fair Value [Line Items]                            
Derivative, notional amount | R$                     R$ 1,900,000,000      
Cross Current Interest Rate Contract, Instrument Four | Brazil, Brazil Real | Not Designated as Hedging Instrument                            
Derivatives, Fair Value [Line Items]                            
Derivative, notional amount | R$                     950,000,000      
Net Investment Cross Currency Swaps | Not Designated as Hedging Instrument                            
Derivatives, Fair Value [Line Items]                            
Deferred premium payments               $ 18,294            
Loss on sale $ 33,710                          
Net Investment Cross Currency Swaps | Brazil, Brazil Real | Not Designated as Hedging Instrument                            
Derivatives, Fair Value [Line Items]                            
Derivative, notional amount               $ 343,783     R$ 1,875,000,000      
Derivative, swap type, variable price | R$ / $                       5.4540    
Settlement of derivatives related to sale of discontinued operations and net investment hedge       $ 1,663                    
Net Investment Cross Currency Swaps | Brazil, Brazil Real | Not Designated as Hedging Instrument | Put/Call Options                            
Derivatives, Fair Value [Line Items]                            
Number of interest rate derivatives held (derivative instrument) | educationalInstitution                   4        
Net Investment Cross Currency Swaps | Australia, Dollars | Not Designated as Hedging Instrument                            
Derivatives, Fair Value [Line Items]                            
Derivative, notional amount     $ 12,921                   $ 13,713 € 21,000,000
Derivative, swap type, variable price | $ / €   0.6530 0.6153                      
Unrealized Gain (Loss) on Derivatives     $ 1,340                      
Cross Currency Interest Rate Contract, Instrument One | Australia, Dollars | Not Designated as Hedging Instrument                            
Derivatives, Fair Value [Line Items]                            
Derivative, notional amount                         $ 12,999 € 21,000,000
Derivative, swap type, variable price | $ / €                         0.6190 0.6190
Unrealized Gain (Loss) on Derivatives   $ (714)