Derivative Instruments, Hedging Activities and Fair Value - Fair Value of Outstanding Derivative Contracts (Details) - USD ($) $ in Thousands	Mar. 31, 2022	Dec. 31, 2021
Derivative contracts
Asset derivatives	$ 4,273	$ 2,124
Liability derivatives	4,376	7,622
Foreign currency exchange forward contracts | Other current assets
Derivative contracts
Asset derivatives	4,273	2,124
Foreign currency exchange forward contracts | Other current liabilities
Derivative contracts
Liability derivatives	2,173	3,465
Interest rate swaps | Other current liabilities
Derivative contracts
Liability derivatives	2,203	4,157
Fair Value of Derivatives Designated as Hedging Instruments
Derivative contracts
Asset derivatives	1,038	719
Liability derivatives	2,419	4,717
Fair Value of Derivatives Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current assets
Derivative contracts
Asset derivatives	1,038	719
Fair Value of Derivatives Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current liabilities
Derivative contracts
Liability derivatives	216	560
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other current liabilities
Derivative contracts
Liability derivatives	2,203	4,157
Fair Value of Derivatives Not Designated as Hedging Instruments
Derivative contracts
Asset derivatives	3,235	1,405
Liability derivatives	1,957	2,905
Fair Value of Derivatives Not Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current assets
Derivative contracts
Asset derivatives	3,235	1,405
Fair Value of Derivatives Not Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current liabilities
Derivative contracts
Liability derivatives	1,957	2,905
Fair Value of Derivatives Not Designated as Hedging Instruments | Interest rate swaps | Other current liabilities
Derivative contracts
Liability derivatives	$ 0	$ 0