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Hedging (Details)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2017
USD ($)
Derivatives
Sep. 30, 2016
USD ($)
Derivatives
Sep. 30, 2017
USD ($)
Derivatives
Sep. 30, 2016
USD ($)
Derivatives
Mar. 31, 2017
USD ($)
Dec. 31, 2016
USD ($)
Jun. 30, 2016
USD ($)
Mar. 31, 2016
USD ($)
Dec. 31, 2015
USD ($)
Derivatives, Fair Value [Line Items]                  
Maximum Length of Time Hedged in Cash Flow Hedge     2 years            
Derivative, Number of New Instruments During Period | Derivatives 6 9 18 30          
Derivative, New Instruments During Period, Notional Amount $ 3,600 $ 3,200 $ 10,500 $ 9,800          
Foreign Currency Cash Flow Hedge Gain (Loss) Reclassified to Earnings, Net (137) 122 (280) 714          
Unrealized loss on hedge instruments (338)   (338)   $ (96) $ (527) $ (354) $ (603) $ (819)
Other Comprehensive Income (Loss), Unrealized Gain (Loss) on Derivatives Arising During Period, Net of Tax (105) 127 469 (249)          
Cash Flow Hedge Gain (Loss) Reclassified to Earnings, Net (137)                
Hedge Loss Recognized in Other Comprehensive Income (Loss) (242) 249 189 465          
Cost of Sales [Member]                  
Derivatives, Fair Value [Line Items]                  
Foreign Currency Cash Flow Hedge Gain (Loss) Reclassified to Earnings, Net (48) 39 (98) 222          
Research and Development Expense [Member]                  
Derivatives, Fair Value [Line Items]                  
Foreign Currency Cash Flow Hedge Gain (Loss) Reclassified to Earnings, Net (67) 60 (137) 355          
Selling, General and Administrative Expenses [Member]                  
Derivatives, Fair Value [Line Items]                  
Foreign Currency Cash Flow Hedge Gain (Loss) Reclassified to Earnings, Net (22) $ 23 (45) $ 137          
Other Current Assets [Member]                  
Derivatives, Fair Value [Line Items]                  
Cash Flow Hedge Derivative Instrument Assets at Fair Value 301   301     94      
Other Accrued Liabilities [Member]                  
Derivatives, Fair Value [Line Items]                  
Cash Flow Hedge Derivative Instrument Liabilities at Fair Value 0   0     0      
Foreign Exchange Forward [Member]                  
Derivatives, Fair Value [Line Items]                  
Cash Flow Hedge Gain (Loss) to be Reclassified within Twelve Months     1,000            
Notional Amount of Foreign Currency Cash Flow Hedge Derivatives $ 16,346   $ 16,346     $ 16,166      
Foreign Exchange Forward [Member] | Cash Flow Hedging [Member]                  
Derivatives, Fair Value [Line Items]                  
Derivative, Number of New Instruments During Period | Derivatives     18            
Derivative, New Instruments During Period, Notional Amount     $ 11,600