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Derivative Instruments - Derivatives Designated as Hedging Instruments, Narrative (Details)
$ in Thousands
12 Months Ended
Jun. 02, 2021
USD ($)
Dec. 31, 2023
USD ($)
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$)
Nov. 30, 2020
R$ / $
Derivatives, Fair Value [Line Items]                    
Settlement of derivatives related to sale of discontinued operations and net investment hedge   $ 0 $ 0 $ (50,341)            
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 Four | Brazil, Brazil Real | Not Designated as Hedging Instrument                    
Derivatives, Fair Value [Line Items]                    
Derivative, notional amount | R$                 R$ 950,000,000  
Cross Currency Interest Rate Contract, Instrument Three | 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     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    
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