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Derivatives Gain (Loss) in Statement of Finacial Position (Details) - USD ($)
3 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Derivative Instruments, Gain (Loss) [Line Items]          
Current period gain (loss) on cash flow hedges $ 101,000 $ 1,030,000 $ (774,000) $ 888,000  
Cash Flow Hedging [Member]          
Derivative Instruments, Gain (Loss) [Line Items]          
Gain (Loss) 545,000 (591,000) 1,019,000 (441,000)  
Foreign currency forward contracts | Cash Flow Hedging [Member]          
Derivative Instruments, Gain (Loss) [Line Items]          
Current period gain (loss) on cash flow hedges (369,000) 1,422,000 (1,587,000) 1,161,000  
Amount of Gain (Loss) Reclassified from Accumulated OCI into Income (Effective Portion) (484,000) 506,000 (910,000) 387,000  
Amount of Gain (Loss) Recognized in Income on Derivatives (Ineffective Portion and Amount Excluded from Effectiveness Testing) $ (88,000) (120,000) (88,000) (56,000)  
Not Designated as Hedging Instrument [Member]          
Derivative Instruments, Gain (Loss) [Line Items]          
Gain (Loss)     $ (723,000)   $ 703,000
Not Designated as Hedging Instrument [Member] | Foreign currency forward contracts          
Derivative Instruments, Gain (Loss) [Line Items]          
Gain (Loss)   $ 967,000   $ 243,000