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Derivatives Gain (Loss) in Statement of Finacial Position (Details) - USD ($)
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Cash Flow Hedging [Member]          
Derivative Instruments, Gain (Loss) [Line Items]          
Gain (Loss) $ 384,000 $ 778,000 $ 1,403,000 $ 337,000  
Foreign currency forward contracts | Cash Flow Hedging [Member]          
Derivative Instruments, Gain (Loss) [Line Items]          
Accumulated Net Gain (Loss) from Designated or Qualifying Cash Flow Hedges [Member] 944,000 (2,501,000) (643,000) (1,340,000)  
Amount of Gain (Loss) Reclassified from Accumulated OCI into Income (Effective Portion) (309,000) (739,000) (1,219,000) (352,000)  
Amount of Gain (Loss) Recognized in Income on Derivatives (Ineffective Portion and Amount Excluded from Effectiveness Testing) $ 51,000 (662,000) (37,000) (718,000)  
Not Designated as Hedging Instrument [Member]          
Derivative Instruments, Gain (Loss) [Line Items]          
Gain (Loss)     $ (1,315,000)   $ 703,000
Not Designated as Hedging Instrument [Member] | Foreign currency forward contracts          
Derivative Instruments, Gain (Loss) [Line Items]          
Gain (Loss)   $ (1,320,000)   $ (1,077,000)