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Shareholders' Equity Other Comprehensive Income (Loss) (Details) - USD ($)
 3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Before-tax amount [Abstract]        
Foreign currency translation adjustment $ 5,811,000 $ 10,685,000 $ (9,114,000) $ (15,908,000)
Net unrealized gain (loss) on derivative instruments, designated as cash flow hedges (2,802,000) (2,331,000) 625,000 (2,341,000)
Net hedging (gain) loss reclassified to net income (loss) 1,582,000 832,000 1,168,000 (291,000)
Other Comprehensive (Income) Loss, Defined Benefit Plan, before Reclassification Adjustment and Tax 0 (457,000) 0 81,000
Net defined benefit plan (gain) loss reclassified to net income (loss) 711,000 469,000 1,423,000 940,000
Total other comprehensive income (loss), before tax 5,302,000 61,286,000 (5,898,000) 34,569,000
Tax (provision) benefit [Abstract]        
Foreign currency translation adjustment (153,000) 625,000 (240,000) 1,773,000
Net unrealized gain (loss) on derivative instruments, designated as cash flow hedges 0 135,000 (18,000) 427,000
Net hedging (gain) loss reclassified to net income (loss) 0 (25,000) (467,000) 49,000
Other Comprehensive (Income) Loss, Defined Benefit Plan, before Reclassification Adjustment, Tax 0 6,000 0 2,000
Net defined benefit plan (gain) loss reclassified to net income (loss) (12,000) 29,000 (23,000) 25,000
Total other comprehensive income (loss) tax (provision) benefit (165,000) 770,000 (748,000) 2,276,000
Net-of-tax amount [Abstract]        
Foreign currency translation adjustment 5,658,000 11,310,000 (9,354,000) (14,135,000)
Net unrealized gain (loss) on derivative instruments, designated as cash flow hedges (2,802,000) (2,196,000) 607,000 (1,914,000)
Net hedging (gain) loss reclassified to net income (loss) 1,582,000 807,000 701,000 (242,000)
Other Comprehensive (Income) Loss, Defined Benefit Plan, before Reclassification Adjustment, after Tax 0 (451,000) 0 83,000
Net defined benefit plan (gain) loss reclassified to net income (loss) 699,000 498,000 1,400,000 965,000
Total other comprehensive income (loss), net of tax 5,137,000 62,056,000 (6,646,000) 36,845,000
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Foreign currency translation adjustment 5,811,000 10,685,000 (9,114,000) (15,908,000)
Foreign currency translation adjustment reclassified to net income (loss) on sale of business 0 52,088,000 0 52,088,000
Net unrealized gain (loss) on derivative instruments, designated as cash flow hedges (2,802,000) (2,331,000) 625,000 (2,341,000)
Gain (Loss) Reclassified from  AOCI into Income (1,582,000) (832,000) (1,168,000) 291,000
Other Comprehensive (Income) Loss, Defined Benefit Plan, before Reclassification Adjustment and Tax 0 457,000 0 (81,000)
Net defined benefit plan (gain) loss reclassified to net income (loss) 711,000 469,000 1,423,000 940,000
Other Comprehensive Income (Loss), before Tax, Portion Attributable to Parent 5,302,000 61,286,000 (5,898,000) 34,569,000
Other Comprehensive Income (Loss), Foreign Currency Translation Adjustment, Tax 153,000 (625,000) 240,000 (1,773,000)
Foreign currency translation adjustment reclassified to net income (loss) on sale of business 0 0 0 0
Other Comprehensive Income (Loss), Derivatives Qualifying as Hedges, Tax 0 (135,000) 18,000 (427,000)
Net hedging (gain) loss reclassified to net income (loss) 0 (25,000) (467,000) 49,000
Other Comprehensive (Income) Loss, Defined Benefit Plan, before Reclassification Adjustment, Tax 0 6,000 0 2,000
Other Comprehensive (Income) Loss, Defined Benefit Plan, Reclassification Adjustment from AOCI, Tax 12,000 (29,000) 23,000 (25,000)
Other Comprehensive Income (Loss), Tax 165,000 (770,000) 748,000 (2,276,000)
Other Comprehensive Income (Loss), Foreign Currency Transaction and Translation Adjustment, Net of Tax, Portion Attributable to Parent 5,658,000 11,310,000 (9,354,000) (14,135,000)
Unrealized gain (loss) on derivative instruments (2,802,000) (2,196,000) 607,000 (1,914,000)
Other Comprehensive Income (Loss), Reclassification Adjustment from AOCI on Derivatives, Net of Tax (1,582,000) (807,000) (701,000) 242,000
Other Comprehensive (Income) Loss, Defined Benefit Plan, before Reclassification Adjustment, after Tax 0 451,000 0 (83,000)
Other Comprehensive (Income) Loss, Defined Benefit Plan, Reclassification Adjustment from AOCI, after Tax 699,000 498,000 1,400,000 965,000
Other Comprehensive Income (Loss), Net of Tax, Portion Attributable to Parent $ 5,137,000 $ 62,056,000 $ (6,646,000) $ 36,845,000