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Derivative Instruments and Hedging Activities - Effect of Hedge Instruments in Unaudited Condensed Comprehensive Income (Loss) (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Derivative Instruments, Gain (Loss) [Line Items]
Unrealized holding (losses) gains arising during period	$ (144)	$ (2,708)	$ 4,900	$ (1,100)
Cash flow hedge | Derivative designated as hedging
Derivative Instruments, Gain (Loss) [Line Items]
Unrealized holding (losses) gains arising during period	(144)	(2,708)	4,900	(1,100)
Foreign exchange forward | Cash flow hedge | Derivative designated as hedging
Derivative Instruments, Gain (Loss) [Line Items]
Unrealized holding (losses) gains arising during period	(144)	(2,711)	4,908	1,119
Interest rate swap | Cash flow hedge | Derivative designated as hedging
Derivative Instruments, Gain (Loss) [Line Items]
Unrealized holding (losses) gains arising during period	$ 0	$ 3	$ (8)	$ (2,219)

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Amount, before tax and reclassification, of gain (loss) from derivative instrument designated and qualifying cash flow hedge included in assessment of hedge effectiveness.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 815
-SubTopic 20
-Section 45
-Paragraph 3
-URI http://asc.fasb.org/extlink&oid=121577181&loc=SL110061190-113977

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 815
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-Section 50
-Paragraph 4A
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-URI http://asc.fasb.org/extlink&oid=125515794&loc=SL5618551-113959

Reference 3: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 815
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-Section 50
-Paragraph 4C
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-URI http://asc.fasb.org/extlink&oid=125515794&loc=SL5624171-113959

Reference 4: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 220
-SubTopic 10
-Section 45
-Paragraph 11
-URI http://asc.fasb.org/extlink&oid=124509347&loc=d3e637-108580

Reference 5: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 220
-SubTopic 10
-Section 45
-Paragraph 10A
-Subparagraph (d)
-URI http://asc.fasb.org/extlink&oid=124509347&loc=SL7669646-108580

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