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Fair Value Measurements (Tables)
9 Months Ended
Sep. 30, 2021
Fair Value Disclosures [Abstract]  
Assets and liabilities measured at fair value on a recurring basis
 September 30, 2021December 31, 2020Balance Sheet Classification
Foreign currency forward contracts not designated as hedging instruments
$2,971 $2,227 Other current assets and prepaid expenses
Cash Flow Hedges:
Cross currency swap agreement
3,932— Other non-current assets
Total derivative assets$6,903 $2,227 
Foreign currency forward contracts not designated as hedging instruments
$1,637 $1,399 Accrued and other liabilities
Cash Flow Hedges:
Interest rate swap agreements
901 — Accrued and other liabilities
Cross currency swap agreement
— 13,093 Accrued and other liabilities
Interest rate swap agreements
— 2,502 Other non-current liabilities
Cross currency swap agreement
3,312 6,297 Other non-current liabilities
Total derivative liabilities$5,850 $23,291