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Financial Instruments - Summary of Effects of Interest Rate Swaps (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Derivatives, Fair Value [Line Items]    
Gain (Loss) Recognized in AOCI, net of tax $ 960 $ (1,388)
Interest rate swaps    
Derivatives, Fair Value [Line Items]    
Gain (Loss) Recognized in AOCI, net of tax 1,854 (715)
Gain Reclassified from AOCI into Expense $ 1,191 $ 897