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Derivative Financial Instruments - Fair value of foreign exchange derivative instruments in consolidated balance sheets (Details) | 12 Months Ended |
--- | --- | ---
Dec. 31, 2019 USD ($) derivative | Dec. 31, 2018 USD ($) derivative
Foreign exchange forward | Maximum |  |
Derivatives, Fair Value [Line Items] |  |
Term of derivative contract | 24 months |
Foreign exchange forward | Derivative designated as hedging |  |
Derivatives, Fair Value [Line Items] |  |
Notional amount | $ 287,900,000 | $ 312,800,000
Foreign exchange forward | Derivative designated as hedging | Other current assets |  |
Derivatives, Fair Value [Line Items] |  |
Asset derivatives | 4,549,000 | 6,116,000
Foreign exchange forward | Derivative designated as hedging | Other noncurrent assets |  |
Derivatives, Fair Value [Line Items] |  |
Asset derivatives | 1,109,000 | 1,015,000
Foreign exchange forward | Derivative designated as hedging | Accrued expenses and other liabilities |  |
Derivatives, Fair Value [Line Items] |  |
Liability derivatives | 2,561,000 | 578,000
Foreign exchange forward | Derivative designated as hedging | Other noncurrent liabilities |  |
Derivatives, Fair Value [Line Items] |  |
Liability derivatives | $ 115,000 | $ 161,000
Foreign exchange forward | Derivative not designated as hedging |  |
Derivatives, Fair Value [Line Items] |  |
Number of outstanding contracts | derivative | 0 | 0
Interest rate swap | Derivative designated as hedging |  |
Derivatives, Fair Value [Line Items] |  |
Notional amount | $ 160,000,000.0 | $ 185,000,000.0
Interest rate swap | Derivative designated as hedging | Accrued expenses and other liabilities |  |
Derivatives, Fair Value [Line Items] |  |
Liability derivatives | 1,862,000 | 526,000
Interest rate swap | Derivative designated as hedging | Other noncurrent liabilities |  |
Derivatives, Fair Value [Line Items] |  |
Liability derivatives | $ 789,000 | $ 925,000

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- Definition Fair value, before effects of master netting arrangements, of a financial asset or other contract with one or more underlyings, notional amount or payment provision or both, and the contract can be net settled by means outside the contract or delivery of an asset. Includes assets elected not to be offset. Excludes assets not subject to a master netting arrangement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 20 -Section 55 -Paragraph 7 -URI http://asc.fasb.org/extlink&oid=99393222&loc=SL20226000-175313 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 860 -SubTopic 20 -Section 50 -Paragraph 4D -Subparagraph (c)(2) -URI http://asc.fasb.org/extlink&oid=118948506&loc=SL51823488-111719 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 20 -Section 50 -Paragraph 3 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=51824906&loc=SL20225862-175312 Reference 4: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 815 -SubTopic 10 -Section 50 -Paragraph 4B -Subparagraph (a),(c) -URI http://asc.fasb.org/extlink&oid=109980867&loc=SL5624163-113959 + Details
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