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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

X

- 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.

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- Definition

Fair value, before effects of master netting arrangements, of a financial liability or 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 liabilities elected not to be offset. Excludes liabilities not subject to a master netting arrangement.

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Nominal or face amount used to calculate payment on derivative.

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- Definition

The number of derivative instruments of a particular group held by the entity.

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Period the derivative contract is outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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