Fair Value Measurements - Fair Value Hierarchy (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Assets:
Cash equivalents	$ 3,424	$ 8,195
Deferred compensation plans	2,962	2,501
Total assets at fair value	20,466	28,720
Liabilities:
Deferred compensation plans	2,962	2,501
Total liabilities at fair value	19,130	15,436
Cross currency swap agreements | Not Designated as Hedging Instrument
Assets:
Derivative assets	4,364	3,682
Liabilities:
Derivative liabilities	2,706	2,166
Cross currency swap agreements | Designated as hedging instruments
Liabilities:
Derivative liabilities	13,462	10,769
Interest rate swap agreements
Assets:
Derivative assets	9,716	14,342
Level One
Assets:
Cash equivalents	3,424	8,195
Deferred compensation plans	0	0
Total assets at fair value	3,424	8,195
Liabilities:
Deferred compensation plans	0	0
Total liabilities at fair value	0	0
Level One | Cross currency swap agreements | Not Designated as Hedging Instrument
Assets:
Derivative assets	0	0
Liabilities:
Derivative liabilities	0	0
Level One | Cross currency swap agreements | Designated as hedging instruments
Liabilities:
Derivative liabilities	0	0
Level One | Interest rate swap agreements
Assets:
Derivative assets	0	0
Level Two
Assets:
Cash equivalents	0	0
Deferred compensation plans	2,962	2,501
Total assets at fair value	17,042	20,525
Liabilities:
Deferred compensation plans	2,962	2,501
Total liabilities at fair value	19,130	15,436
Level Two | Cross currency swap agreements | Not Designated as Hedging Instrument
Assets:
Derivative assets	4,364	3,682
Liabilities:
Derivative liabilities	2,706	2,166
Level Two | Cross currency swap agreements | Designated as hedging instruments
Liabilities:
Derivative liabilities	13,462	10,769
Level Two | Interest rate swap agreements
Assets:
Derivative assets	9,716	14,342
Level Three
Assets:
Cash equivalents	0	0
Deferred compensation plans	0	0
Total assets at fair value	0	0
Liabilities:
Deferred compensation plans	0	0
Total liabilities at fair value	0	0
Level Three | Cross currency swap agreements | Not Designated as Hedging Instrument
Assets:
Derivative assets	0	0
Liabilities:
Derivative liabilities	0	0
Level Three | Cross currency swap agreements | Designated as hedging instruments
Liabilities:
Derivative liabilities	0	0
Level Three | Interest rate swap agreements
Assets:
Derivative assets	$ 0	$ 0