Financial Instruments - Fair Value of Outstanding Derivative Contracts Recorded as Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	$ 3,677	$ 2,985
Liability derivatives (Level 2)	12,725	10,252
Foreign currency exchange forward contracts | Other current assets
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	3,677	2,985
Foreign currency exchange forward contracts | Other current liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	5,048	3,873
Interest rate swaps | Other current liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	3,959	2,098
Interest rate swaps | Other liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	3,718	4,281
Fair Value of Derivatives Designated as Hedging Instruments
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	900	2,039
Liability derivatives (Level 2)	8,627	6,519
Fair Value of Derivatives Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current assets
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	900	2,039
Fair Value of Derivatives Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	950	140
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other current liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	3,959	2,098
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	3,718	4,281
Fair Value of Derivatives Not Designated as Hedging Instruments
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	2,777	946
Liability derivatives (Level 2)	4,098	3,733
Fair Value of Derivatives Not Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current assets
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	2,777	946
Fair Value of Derivatives Not Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	4,098	3,733
Fair Value of Derivatives Not Designated as Hedging Instruments | Interest rate swaps | Other current liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	0	0
Fair Value of Derivatives Not Designated as Hedging Instruments | Interest rate swaps | Other liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	$ 0	$ 0