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Derivatives and Hedging Instruments - Summary of Effects of Derivatives not Designated as Hedging Instruments (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Other Expense | Cash Flow Hedging | Foreign currency exchange contracts    
Derivative [Line Items]    
Amount of Gain (Loss) Recognized in Income (Loss) $ 0 $ 1,943