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Financial Instruments - Summary of Effects of Interest Rate Swaps (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Derivatives, Fair Value [Line Items]        
Gain Recognized in AOCI, net of tax $ 1,383 $ 705 $ (5) $ 3,571
Interest rate swap        
Derivatives, Fair Value [Line Items]        
Gain Recognized in AOCI, net of tax 2,187 587 1,472 3,194
Gain (Loss) Reclassified from AOCI into Expense $ 1,073 $ (155) $ 1,970 $ (498)