Derivative Instruments and Hedging Activities - Effect of Hedge Instruments in Unaudited Condensed Comprehensive Income (Loss) (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Derivative Instruments, Gain (Loss) [Line Items]
Unrealized holding gains (losses) arising during period	$ 677	$ (5,794)	$ 5,044	$ 1,608
Cash flow hedge | Derivative designated as hedging
Derivative Instruments, Gain (Loss) [Line Items]
Unrealized holding gains (losses) arising during period	677	(5,794)	5,044	1,608
Foreign exchange forward | Cash flow hedge | Derivative designated as hedging
Derivative Instruments, Gain (Loss) [Line Items]
Unrealized holding gains (losses) arising during period	676	(5,637)	5,052	3,830
Interest rate swap | Cash flow hedge | Derivative designated as hedging
Derivative Instruments, Gain (Loss) [Line Items]
Unrealized holding gains (losses) arising during period	$ 1	$ (157)	$ (8)	$ (2,222)