Financial Instruments - Fair Value of Outstanding Derivative Contracts Recorded as Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	$ 2,124	$ 3,677
Liability derivatives (Level 2)	7,622	12,725
Foreign currency exchange forward contracts | Other current assets
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	2,124	3,677
Foreign currency exchange forward contracts | Other current liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	3,465	5,048
Interest rate swaps | Other current liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	4,157	3,959
Interest rate swaps | Other liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)		3,718
Fair Value of Derivatives Designated as Hedging Instruments
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	719	900
Liability derivatives (Level 2)	4,717	8,627
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):	719	900
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)	560	950
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other current liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	4,157	3,959
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)		3,718
Fair Value of Derivatives Not Designated as Hedging Instruments
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	1,405	2,777
Liability derivatives (Level 2)	2,905	4,098
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):	1,405	2,777
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)	2,905	4,098
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