Derivative Instruments, Hedging Activities and Fair Value - Fair Value of Outstanding Derivative Contracts (Details) - USD ($) $ in Thousands	Sep. 30, 2024	Dec. 31, 2023
Derivative contracts
Asset derivatives	$ 302	$ 3,117
Liability derivatives	10,182	10,775
Foreign currency exchange forward contracts | Other current assets
Derivative contracts
Asset derivatives	302	1,674
Foreign currency exchange forward contracts | Other current liabilities
Derivative contracts
Liability derivatives	8,250	8,625
Interest rate swaps | Other current assets
Derivative contracts
Asset derivatives		1,443
Interest rate swaps | Other current liabilities
Derivative contracts
Liability derivatives	1,130
Interest rate swaps | Other liabilities
Derivative contracts
Liability derivatives	802	2,150
Fair Value of Derivatives Designated as Hedging Instruments
Derivative contracts
Asset derivatives	27	1,520
Liability derivatives	3,228	2,711
Fair Value of Derivatives Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current assets
Derivative contracts
Asset derivatives	27	77
Fair Value of Derivatives Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current liabilities
Derivative contracts
Liability derivatives	1,296	561
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other current assets
Derivative contracts
Asset derivatives		1,443
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other current liabilities
Derivative contracts
Liability derivatives	1,130
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other liabilities
Derivative contracts
Liability derivatives	802	2,150
Fair Value of Derivatives Not Designated as Hedging Instruments
Derivative contracts
Asset derivatives	275	1,597
Liability derivatives	6,954	8,064
Fair Value of Derivatives Not Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current assets
Derivative contracts
Asset derivatives	275	1,597
Fair Value of Derivatives Not Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current liabilities
Derivative contracts
Liability derivatives	6,954	8,064
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 current liabilities
Derivative contracts
Liability derivatives	0
Fair Value of Derivatives Not Designated as Hedging Instruments | Interest rate swaps | Other liabilities
Derivative contracts
Liability derivatives	$ 0	$ 0