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Financial Instruments - Summary of Effects of Interest Rate Swaps (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Derivatives, Fair Value [Line Items]        
Gain Recognized in AOCI, net of tax $ 321 $ 2,647 $ 316 $ 6,218
Interest rate swap        
Derivatives, Fair Value [Line Items]        
Gain Recognized in AOCI, net of tax 1,163 2,815 2,635 6,009
Gain (Loss) Reclassified from AOCI into Expense $ 1,122 $ 220 $ 3,092 $ (278)