Shareholders' Equity - Components of Accumulated Other Comprehensive Income (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020
Components of Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Beginning balance	$ 913,102
Current-period other comprehensive income (loss)	(1,265)	$ (6,738)
Ending balance	1,018,880
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)	(3,825)	(2,759)
Ending balance	(13,032)	(15,073)
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)	2,093	(4,299)
Ending balance	(2,659)	(5,775)
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)	467	320
Ending balance	(8,163)	(6,225)
Total
Components of Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Beginning balance	(22,589)	(20,335)
Ending balance	$ (23,854)	$ (27,073)