Fair Value of Financial Instruments - Financial Assets and Liabilities Measured at Fair Value on Recurring Basis (Details) - Fair value, measurements, recurring - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Fair Value, Asset/Liability
Assets	$ 105,049	$ 99,677
Liabilities	2,493	3,310
Contingent consideration for business acquisitions
Fair Value, Asset/Liability
Liabilities	2,313	3,190
Interest rate swaps
Fair Value, Asset/Liability
Assets	11,966	12,239
Foreign exchange forward contracts
Fair Value, Asset/Liability
Assets	16
Liabilities	180	120
Convertible debt investment
Fair Value, Asset/Liability
Assets	61,756	57,563
Level 2
Fair Value, Asset/Liability
Assets	43,293	42,114
Liabilities	180	120
Level 2 | Interest rate swaps
Fair Value, Asset/Liability
Assets	11,966	12,239
Level 2 | Foreign exchange forward contracts
Fair Value, Asset/Liability
Assets	16
Liabilities	180	120
Level 3
Fair Value, Asset/Liability
Assets	61,756	57,563
Liabilities	2,313	3,190
Level 3 | Contingent consideration for business acquisitions
Fair Value, Asset/Liability
Liabilities	2,313	3,190
Level 3 | Convertible debt investment
Fair Value, Asset/Liability
Assets	61,756	57,563
Deferred compensation assets
Fair Value, Asset/Liability
Assets	31,311	29,875
Deferred compensation assets | Level 2
Fair Value, Asset/Liability
Assets	$ 31,311	$ 29,875