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Fair Value Measurement (Details) - USD ($) $ in Thousands | Mar. 31, 2021 | Dec. 31, 2020
--- | --- | ---
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Investments under executive deferred compensation plan | $ 28,963 | $ 32,447
Private equity securities measured at net asset value | 4,667 | 4,661
Foreign currency forward contracts, assets | 16,123 | 13,606
Obligations under executive deferred compensation plan | 28,963 | 32,447
Foreign currency forward contracts, liabilities | 3,917 | 4,803
Quoted Prices in Active Markets for Identical Items (Level 1) |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Investments under executive deferred compensation plan | 28,963 | 32,447
Foreign currency forward contracts, assets | 0 | 0
Obligations under executive deferred compensation plan | 28,963 | 32,447
Foreign currency forward contracts, liabilities | 0 | 0
Quoted Prices in Active Markets for Similar Items (Level 2) |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Investments under executive deferred compensation plan | 0 | 0
Foreign currency forward contracts, assets | 16,123 | 13,606
Obligations under executive deferred compensation plan | 0 | 0
Foreign currency forward contracts, liabilities | 3,917 | 4,803
Unobservable Inputs (Level 3) |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Investments under executive deferred compensation plan | 0 | 0
Foreign currency forward contracts, assets | 0 | 0
Obligations under executive deferred compensation plan | 0 | 0
Foreign currency forward contracts, liabilities | $ 0 | $ 0

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