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Shareholders' Equity Gains and Losses, Net of Tax Reclassified from Accumulated Other Comprehensive Income (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Derivative Instruments, Gain (Loss) [Line Items]        
Gain (Loss) Reclassified from Accumulated OCI Into Income $ (1,800) $ 300 $ (1,200) $ 2,500
Reclassification from Accumulated Other Comprehensive Income, Current Period, Net of Tax     (1,200)  
Foreign Exchange Contract | Other expense, net        
Derivative Instruments, Gain (Loss) [Line Items]        
Gain (Loss) Reclassified from Accumulated OCI Into Income 1,000 500 4,500 2,600
Foreign Exchange Contract | Cost of sales        
Derivative Instruments, Gain (Loss) [Line Items]        
Gain (Loss) Reclassified from Accumulated OCI Into Income (700) 200 (1,400) 500
Interest Rate Contract [Member] | Interest Expense [Member]        
Derivative Instruments, Gain (Loss) [Line Items]        
Gain (Loss) Reclassified from Accumulated OCI Into Income 2,000 300 4,100 400
Defined Benefit Plan, Derivative [Member] | Operating Expense [Member]        
Derivative Instruments, Gain (Loss) [Line Items]        
Gain (Loss) Reclassified from Accumulated OCI Into Income $ 100 $ 100 $ 200 $ 200