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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, 2020 | Dec. 31, 2019
Derivative Instruments, Gain (Loss) [Line Items] |  |
Location of Gain (Loss) Reclassified from Accumulated OCI into Income | $ (3,700) | $ 3,000
Foreign exchange contracts, net | Other (income) expense, net |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Location of Gain (Loss) Reclassified from Accumulated OCI into Income | 4,300 | 3,200
Foreign exchange contracts, net | Cost of sales |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Location of Gain (Loss) Reclassified from Accumulated OCI into Income | (2,400) | 900
Interest rate contracts | Interest expense |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Location of Gain (Loss) Reclassified from Accumulated OCI into Income | (6,100) | (900)
Retirement plan activity | Operating expenses |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Location of Gain (Loss) Reclassified from Accumulated OCI into Income | $ 500 | $ (200)

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