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Shareholders' Equity - Gains and Losses, Net of Tax Reclassified from Accumulated Other Comprehensive Income (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018
Derivative Instruments, Gain (Loss) [Line Items] |  |
Location of Gain (Loss) Reclassified from Accumulated OCI into Income | $ 2,969 | $ 9,645
Foreign exchange contracts, net | Other expense, net |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Location of Gain (Loss) Reclassified from Accumulated OCI into Income | 3,198 | 9,378
Foreign exchange contracts, net | Cost of sales |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Location of Gain (Loss) Reclassified from Accumulated OCI into Income | 920 | 686
Interest rate contracts | Interest expense |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Location of Gain (Loss) Reclassified from Accumulated OCI into Income | (899) | (158)
Retirement plan activity | Operating expenses |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Location of Gain (Loss) Reclassified from Accumulated OCI into Income | $ (250) | $ (261)

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