Derivatives - Forward Notional Contracts (Details) - Dec. 31, 2016 - Foreign currency forward contracts € in Thousands, ¥ in Thousands, £ in Thousands, SFr in Thousands, SEK in Thousands, MXN in Thousands, HKD in Thousands, DKK in Thousands, CAD in Thousands, BRL in Thousands, AUD in Thousands	EUR (€)	CNY (¥)	DKK	MXN	CHF (SFr)	CAD	GBP (£)	HKD	SEK	BRL	AUD
Not designated as hedging instrument
Derivative [Line Items]
Notional amount of derivative	€ 20,657	¥ 16,615		MXN 19,125	SFr 230	CAD 4,320	£ 975	HKD 11,000	SEK 3,035	BRL 5,100	AUD 4,150
Derivatives designated as cash flow hedges | Designated as hedging instrument
Derivative [Line Items]
Notional amount of derivative	€ 11,065		DKK 8,795	MXN 76,525	SFr 1,303		£ 3,115		SEK 13,165