Derivative Instruments, Hedging Activities and Fair Value - Fair Value of Outstanding Derivative Contracts (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Derivative contracts
Asset derivatives	$ 7,439	$ 3,196
Liability derivatives	4,427	5,373
Foreign currency exchange forward contracts | Other current assets
Derivative contracts
Asset derivatives	4,329	3,196
Foreign currency exchange forward contracts | Other current liabilities
Derivative contracts
Liability derivatives	3,717	5,373
Interest rate swaps | Other current assets
Derivative contracts
Asset derivatives	3,110
Interest rate swaps | Other liabilities
Derivative contracts
Liability derivatives	710
Fair Value of Derivatives Designated as Hedging Instruments
Derivative contracts
Asset derivatives	3,144	1,042
Liability derivatives	1,463	577
Fair Value of Derivatives Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current assets
Derivative contracts
Asset derivatives	34	1,042
Fair Value of Derivatives Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current liabilities
Derivative contracts
Liability derivatives	753	577
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other current assets
Derivative contracts
Asset derivatives	3,110
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other liabilities
Derivative contracts
Liability derivatives	710
Fair Value of Derivatives Not Designated as Hedging Instruments
Derivative contracts
Asset derivatives	4,295	2,154
Liability derivatives	2,964	4,796
Fair Value of Derivatives Not Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current assets
Derivative contracts
Asset derivatives	4,295	2,154
Fair Value of Derivatives Not Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current liabilities
Derivative contracts
Liability derivatives	2,964	$ 4,796
Fair Value of Derivatives Not Designated as Hedging Instruments | Interest rate swaps | Other current assets
Derivative contracts
Asset derivatives	0
Fair Value of Derivatives Not Designated as Hedging Instruments | Interest rate swaps | Other liabilities
Derivative contracts
Liability derivatives	$ 0