Summary of Significant Accounting Policies - Accumulated Other Comprehensive Income (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022	Sep. 30, 2022
Accumulated Other Comprehensive Income [Line Items]
Accumulated other comprehensive income (loss)	$ 6,744	$ 5,895	$ (708)
AOCI Attributable to Parent
Accumulated Other Comprehensive Income [Line Items]
Accumulated other comprehensive income (loss)	6,744	5,895	(708)
Foreign currency translation adjustments
Accumulated Other Comprehensive Income [Line Items]
Accumulated other comprehensive income (loss)	(19,363)	(19,608)	(28,071)
Unrealized (losses) gains on interest rate swaps, net of tax
Accumulated Other Comprehensive Income [Line Items]
Accumulated other comprehensive income (loss)	$ 26,107	$ 25,503	$ 27,363