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Financial Instruments - Summary of Effects of Interest Rate Swaps (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Derivatives, Fair Value [Line Items]    
(Loss) Gain Recognized in AOCI, net of tax $ (1,388) $ 2,866
Interest rate swap    
Derivatives, Fair Value [Line Items]    
(Loss) Gain Recognized in AOCI, net of tax (715) 2,607
Gain (Loss) Reclassified from AOCI into Expense $ 897 $ (343)