Derivative Instruments and Hedging Activities - Schedule of Estimated Gross Fair Values of Derivative Instruments and Their Classification on Consolidated Balance Sheet (Details) - Interest Rate Swap Agreements - USD ($) $ in Thousands	Mar. 31, 2022	Dec. 31, 2021
Derivatives Designated as Effective Hedging Instruments | Cash Flow Hedges
Liabilities:
Derivative liabilities	$ 1,580	$ 8,705
Derivatives Not Designated as Hedging Instruments
Liabilities:
Derivative liabilities	1,252	6,938
Other Assets | Derivatives Designated as Effective Hedging Instruments | Cash Flow Hedges
Assets:
Other assets	1,738
Other Assets | Derivatives Not Designated as Hedging Instruments
Assets:
Other assets	1,397
Current Portion of Long-term Liabilities | Derivatives Designated as Effective Hedging Instruments | Cash Flow Hedges
Liabilities:
Current portion of long-term liabilities	1,580	5,911
Current Portion of Long-term Liabilities | Derivatives Not Designated as Hedging Instruments
Liabilities:
Current portion of long-term liabilities	$ 1,252	4,714
Other Long-term Liabilities | Derivatives Designated as Effective Hedging Instruments | Cash Flow Hedges
Liabilities:
Other long-term liabilities		2,794
Other Long-term Liabilities | Derivatives Not Designated as Hedging Instruments
Liabilities:
Other long-term liabilities		$ 2,224