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Condensed Consolidated Statements of Comprehensive Income (Loss) (Parenthetical) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Statement of Comprehensive Income [Abstract]        
Change in unrecognized actuarial loss and prior service cost, tax $ (27) $ (43) $ (46) $ (337)
Cash flow hedge activity, tax 590 (946) (4,544) (4,121)
Foreign currency translation adjustments, tax $ 0 $ 0 $ 0 $ 0