Shareholders' Equity - Components of Accumulated Other Comprehensive Income (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Components of Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Beginning balance	$ 913,102
Current-period other comprehensive income (loss)	2,479	$ (13,164)
Ending balance	941,256
Foreign currency translation adjustments, net of tax
Components of Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Beginning balance	(9,207)	(12,314)
Current-period other comprehensive income (loss)	(626)	(8,759)
Ending balance	(9,833)	(21,073)
Change in fair value of derivatives, net of tax
Components of Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Beginning balance	(4,752)	(1,476)
Current-period other comprehensive income (loss)	2,949	(4,512)
Ending balance	(1,803)	(5,988)
Pension adjustments, net of tax
Components of Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Beginning balance	(8,630)	(6,545)
Current-period other comprehensive income (loss)	156	107
Ending balance	(8,474)	(6,438)
Total
Components of Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Beginning balance	(22,589)	(20,335)
Ending balance	$ (20,110)	$ (33,499)