Components of Accumulated Other Comprehensive Loss - Reclassification out of Accumulated Other Comprehensive Income (Details) - USD ($) $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2024	Mar. 31, 2024	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2024	Jun. 30, 2023
Reclassification out of Accumulated Other Comprehensive Income [Line Items]
Interest expense	$ 27,934		$ 26,409		$ 56,056	$ 51,404
Income (loss) from continuing operations before income taxes and equity income	(330)		742		(7,907)	1,450
Income tax benefit (expense) from continuing operations	10,020		15,331		17,935	23,348
Net income (loss)	(11,120)	$ (16,846)	(15,838)	$ (8,590)	(27,966)	(24,428)
Amount Reclassified from Accumulated Other Comprehensive Loss | Cash flow hedging intruments
Reclassification out of Accumulated Other Comprehensive Income [Line Items]
Income (loss) from continuing operations before income taxes and equity income	(964)		249		(2,250)	412
Income tax benefit (expense) from continuing operations	245		(53)		529	(92)
Net income (loss)	(719)		196		(1,721)	320
Amount Reclassified from Accumulated Other Comprehensive Loss | Cash flow hedging intruments | Foreign currency exchange forward contracts
Reclassification out of Accumulated Other Comprehensive Income [Line Items]
Product revenues	(93)		866		(497)	1,277
Amount Reclassified from Accumulated Other Comprehensive Loss | Cash flow hedging intruments | Interest rate swaps
Reclassification out of Accumulated Other Comprehensive Income [Line Items]
Interest expense	(871)		(617)		(1,753)	(865)
Amount Reclassified from Accumulated Other Comprehensive Loss | Defined benefit pension items
Reclassification out of Accumulated Other Comprehensive Income [Line Items]
Income (loss) from continuing operations before income taxes and equity income	4,956		4,844		9,920	9,628
Income tax benefit (expense) from continuing operations	(262)		(293)		(525)	(585)
Net income (loss)	4,694		4,551		9,395	9,043
Amount Reclassified from Accumulated Other Comprehensive Loss | Actuarial losses
Reclassification out of Accumulated Other Comprehensive Income [Line Items]
Defined benefit pension income (expense)	4,839		4,729		9,685	9,399
Amount Reclassified from Accumulated Other Comprehensive Loss | Prior service costs
Reclassification out of Accumulated Other Comprehensive Income [Line Items]
Defined benefit pension income (expense)	$ 117		$ 115		$ 235	$ 229