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Derivative Financial Instruments - Additional Information (Details) € in Millions | 1 Months Ended | 3 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | --- | ---
Jan. 31, 2020 USD ($) | Jan. 31, 2020 EUR (€) | Sep. 30, 2020 USD ($) | Sep. 30, 2019 USD ($) | Sep. 30, 2020 USD ($) item | Sep. 30, 2019 USD ($) | Dec. 31, 2019 USD ($) | Dec. 31, 2017
Derivative [Line Items] |  |  |  |  |  |  |  |
Derivative cost of hedge | $ 700,000 |  |  |  |  |  |  |
Foreign currency unrealized losses expected to be reclassified into earnings over next twelve months |  |  | $ (1,200,000) |  | $ (1,200,000) |  |  |
Foreign currency unrealized gains expected to be reclassified into earnings over next twelve months, net tax benefit |  |  | $ 100,000 |  | $ 100,000 |  |  |
3.95% senior unsecured notes due 2027 |  |  |  |  |  |  |  |
Derivative [Line Items] |  |  |  |  |  |  |  |
Debt instrument, interest rate |  |  | 3.95% |  | 3.95% |  |  | 3.95%
Interest Rate Swap Agreements |  |  |  |  |  |  |  |
Derivative [Line Items] |  |  |  |  |  |  |  |
Derivative fixed interest rate (as a percent) | 0.50% | 0.50% |  |  |  |  |  |
Interest Rate Swap Agreements | Designated as Hedging Instrument |  |  |  |  |  |  |  |
Derivative [Line Items] |  |  |  |  |  |  |  |
Termination of derivative instruments | € |  | € 45 |  |  |  |  |  |
Treasury Lock | Interest Lock Agreement | 3.95% senior unsecured notes due 2027 |  |  |  |  |  |  |  |
Derivative [Line Items] |  |  |  |  |  |  |  |
Percentage of reduction in effective interest rate on senior notes |  |  |  |  | 0.25% |  |  |
Foreign Currency Forward Exchange Contracts |  |  |  |  |  |  |  |
Derivative [Line Items] |  |  |  |  |  |  |  |
Number of credit contingency features | item |  |  |  |  | 0 |  |  |
Foreign Currency Forward Exchange Contracts | Cash Flow Hedging |  |  |  |  |  |  |  |
Derivative [Line Items] |  |  |  |  |  |  |  |
Gains (losses) in other comprehensive loss, effective portion |  |  | $ 14,400,000 | $ (16,900,000) | $ (100,000) | $ (25,700,000) |  |
Foreign Currency Forward Exchange Contracts | Designated as Hedging Instrument |  |  |  |  |  |  |  |
Derivative [Line Items] |  |  |  |  |  |  |  |
Notional amount |  |  | 272,500,000 |  | 272,500,000 |  | $ 426,900,000 |
Carrying value / fair value of derivative assets |  |  | 7,200,000 |  | 7,200,000 |  | 3,700,000 |
Carrying value / fair value of derivative assets included in prepaid expenses and other current assets |  |  | 4,600,000 |  | 4,600,000 |  | 1,300,000 |
Carrying value / fair value of derivative liabilities |  |  | 6,500,000 |  | 6,500,000 |  | 15,500,000 |
Carrying value / fair value of derivative liabilities included in non-current liabilities |  |  | 700,000 |  | 700,000 |  | 2,900,000 |
Foreign Currency Forward Exchange Contracts | Designated as Hedging Instrument | Cash Flow Hedging |  |  |  |  |  |  |  |
Derivative [Line Items] |  |  |  |  |  |  |  |
Net gain (loss) recognized in gross margin |  |  | (2,600,000) | (3,800,000) | (12,700,000) | (8,400,000) |  |
Foreign Currency Forward Exchange Contracts | Not Designated as Hedging Instrument |  |  |  |  |  |  |  |
Derivative [Line Items] |  |  |  |  |  |  |  |
Carrying value / fair value of derivative assets |  |  | 200,000 |  | 200,000 |  |  |
Carrying value / fair value of derivative liabilities |  |  |  |  |  |  | 100,000 |
Foreign exchange net gains (losses) on derivative contracts not designated as hedges |  |  | (900,000) | $ (1,300,000) | (2,500,000) | $ (1,900,000) |  |
Carrying value / fair value of derivative assets included in prepaid expenses and other current assets |  |  |  |  |  |  | 600,000 |
Commodity Swap Agreements |  |  |  |  |  |  |  |
Derivative [Line Items] |  |  |  |  |  |  |  |
Notional amount |  |  | 10,600,000 |  | 10,600,000 |  |  |
Carrying value / fair value of derivative liabilities |  |  | 3,200,000 |  | 3,200,000 |  | 5,400,000 |
Carrying value / fair value of derivative liabilities included in non-current liabilities |  |  | $ 200,000 |  | $ 200,000 |  | $ 1,100,000 |

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