Summary of Significant Accounting Policies - Accumulated Other Comprehensive Income (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023	Mar. 31, 2023
Accumulated Other Comprehensive Income [Line Items]
Accumulated other comprehensive income	$ 5,140	$ 6,582	$ 4,555
AOCI Attributable to Parent
Accumulated Other Comprehensive Income [Line Items]
Accumulated other comprehensive income	5,140	6,582	4,555
Foreign currency translation adjustments
Accumulated Other Comprehensive Income [Line Items]
Accumulated other comprehensive income	(16,367)	(12,699)	(17,139)
Unrealized (losses) gains on interest rate swaps, net of tax
Accumulated Other Comprehensive Income [Line Items]
Accumulated other comprehensive income	$ 21,507	$ 19,281	$ 21,694