Other Comprehensive (Income) Loss - Related Tax Effects Allocated to Each Component of Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Equity [Abstract]
Cumulative translation adjustment, before tax amount	$ 1,488	$ 1,920	$ (584)	$ (2,885)
Amortization of actuarial gains (losses), before tax amount	654	(551)	1,053	(1,105)
Derivative instruments, before tax amount	(100)	1,443	(656)	(2,045)
Total other comprehensive income (loss), before tax amount	2,042	2,812	(187)	(6,035)
Cumulative translation adjustment, tax expense	0	0	0	0
Amortization of actuarial gains (losses), tax expense	(267)	105	(380)	212
Derivative instrument, tax expense	23	(339)	153	371
Total other comprehensive income (loss), tax expense	(244)	(234)	(227)	583
Cumulative translation adjustment, after tax amount	1,488	1,920	(584)	(2,885)
Amortization of actuarial gains (losses), after tax amount	387	(446)	673	(893)
Derivative instrument, after tax amount	(77)	1,104	(503)	(1,674)
Other comprehensive income (loss)	$ 1,798	$ 2,578	$ (414)	$ (5,452)