Shareholders' Equity - Components of Accumulated Other Comprehensive Income (Details) - USD ($) $ in Thousands	6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020
Components of Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Beginning balance	$ 913,102
Current-period other comprehensive income (loss)	1,457	$ (9,219)
Ending balance	986,181
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)	(636)	(4,757)
Ending balance	(9,843)	(17,071)
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)	311	(4,675)
Ending balance	(4,441)	(6,151)
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)	1,782	213
Ending balance	(6,848)	(6,332)
Total
Components of Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Beginning balance	(22,589)	(20,335)
Ending balance	$ (21,132)	$ (29,554)