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Fair Value Measurements (Tables)
3 Months Ended
Mar. 31, 2021
Fair Value Disclosures [Abstract]  
Assets and liabilities measured at fair value on a recurring basis
 March 31, 2021December 31, 2020Balance Sheet Location
Foreign currency forward contracts not designated as hedging instruments$2,849 $2,227 Other current assets and prepaid expenses
Total derivative assets$2,849 $2,227 
Foreign currency forward contracts not designated as hedging instruments$1,799 $1,399 Accrued and other liabilities
Cash Flow Hedges:
Interest rate swap agreements$1,964 $— Accrued and other liabilities
Cross currency swap agreement$5,983 $13,093 Accrued and other liabilities
Interest rate swap agreements— 2,502 Other non-current liabilities
Cross currency swap agreement2,681 6,297 Other non-current liabilities
Total derivative liabilities$12,427 $23,291