Derivative Financial Instruments - Derivative Financial Instruments Narrative (Details)	12 Months Ended
	Dec. 31, 2020 USD ($) counterparty contracts	Dec. 31, 2019 USD ($) counterparty	Mar. 31, 2020 USD ($)	Feb. 28, 2020 USD ($)	Dec. 31, 2018 USD ($)	Apr. 30, 2018 USD ($)	Dec. 31, 2017 USD ($)	Nov. 30, 2015	Oct. 31, 2015
Derivative [Line Items]
Accumulated other comprehensive income (loss), net of tax	$ (138,526,000)	$ (204,672,000)
Long-term debt	936,094,000
Interest rate						1.38%
Secured Debt [Member]
Derivative [Line Items]
Long-term debt	936,094,000	950,156,000
Accumulated Other Comprehensive Income, Net Unrealized Gain (Loss) on Nonderivative Instruments [Member]
Derivative [Line Items]
Accumulated other comprehensive income (loss), net of tax	$ (14,380,000)	$ (14,380,000)			$ (14,380,000)		$ (14,380,000)
Number of Counterparties [Member]
Derivative [Line Items]
Number of counterparties | counterparty	4	5
London Interbank Offered Rate (LIBOR) [Member] | Secured Debt [Member]
Derivative [Line Items]
Long-term debt	$ 536,100,000
Interest Rate Swap [Member]
Derivative [Line Items]
Number of interest rate derivatives held			1						1
Derivative, Notional Amount	$ 214,000,000		$ 240,000,000
Derivative, Fixed Interest Rate	1.42%		0.617%
Foreign currency cash flow hedge gain (loss) to be reclassified during next 12 months			$ 1,000,000.0
Interest Rate Cap [Member]
Derivative [Line Items]
Number of interest rate derivatives held								3
Derivative, cap interest rate	2.00%
Derivative, Notional Amount	$ 100,000,000
Derivative Purchase Price	1,700,000
Currency Swap [Member]
Derivative [Line Items]
Number of interest rate derivatives held						1
Derivative, Notional Amount						$ 56,000,000.0
Foreign currency cash flow hedge gain (loss) to be reclassified during next 12 months	$ 500,000
Forward Contracts [Member]
Derivative [Line Items]
Number of instruments held | contracts	39
Foreign Exchange Contract [Member] | Not Designated as Hedging Instrument [Member] | Minimum [Member]
Derivative [Line Items]
Derivative, Notional Amount	$ 121,000
Foreign Exchange Contract [Member] | Not Designated as Hedging Instrument [Member] | Maximum [Member]
Derivative [Line Items]
Derivative, Notional Amount	26,400,000
Foreign Exchange Option [Member]
Derivative [Line Items]
Derivative, Notional Amount	0			$ 96,000,000
Derivative Purchase Price	$ 1,200,000