Summary of Significant Accounting Policies - Schedule of Financial Assets and Liabilities Measured at Fair Value on a Recurring Basis (Details) - Fair Value, Recurring - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Subsidiary, Sale of Stock [Line Items]
Mutual fund investments held in rabbi trust	$ 0	$ 758
Prepaid Expenses and Other Current Assets
Subsidiary, Sale of Stock [Line Items]
Derivative asset	215	158
Other Assets
Subsidiary, Sale of Stock [Line Items]
Derivative asset	2,804	2,148
Other Noncurrent Liabilities
Subsidiary, Sale of Stock [Line Items]
Derivative liabilities, recorded in accrued expenses and other liabilities	260	5,005
Level 1
Subsidiary, Sale of Stock [Line Items]
Mutual fund investments held in rabbi trust	0	758
Level 1 | Prepaid Expenses and Other Current Assets
Subsidiary, Sale of Stock [Line Items]
Derivative asset	0	0
Level 1 | Other Assets
Subsidiary, Sale of Stock [Line Items]
Derivative asset	0	0
Level 1 | Other Noncurrent Liabilities
Subsidiary, Sale of Stock [Line Items]
Derivative liabilities, recorded in accrued expenses and other liabilities	0	0
Level 2
Subsidiary, Sale of Stock [Line Items]
Mutual fund investments held in rabbi trust	0	0
Level 2 | Prepaid Expenses and Other Current Assets
Subsidiary, Sale of Stock [Line Items]
Derivative asset	215	158
Level 2 | Other Assets
Subsidiary, Sale of Stock [Line Items]
Derivative asset	2,804	2,148
Level 2 | Other Noncurrent Liabilities
Subsidiary, Sale of Stock [Line Items]
Derivative liabilities, recorded in accrued expenses and other liabilities	$ 260	$ 5,005