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Derivative Instruments - Designated as hedging, Financial Performance (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Derivative Instruments, Gain (Loss) [Line Items]          
Accumulated other comprehensive loss $ (4,510)   $ (4,510)   $ (5,620)
Net Investment Hedging [Member] | Designated as Hedging Instrument [Member] | Cross Currency Interest Rate Contract [Member]          
Derivative Instruments, Gain (Loss) [Line Items]          
Accumulated other comprehensive loss 3,630   3,630   $ (3,580)
Derivative Instruments, Gain (Loss) Reclassified from Accumulated OCI into Income, Effective Portion, Net $ 0 $ 0 $ 0 $ 0